Marginalization in Graph SLAM

Question

I have several questions about the process of marginalization in SLAM algorithms:

0 - What are the mathematic intuition behind marginalization process

1 - I know marginalization of states or points is related with removing nodes from the graph and keeping the information they have, how this information is kept? I mean, how the information of the marginalized states are passed to the remaining state?

2 - Why in bundle adjustment, the points are set marginalized? (example of ORBSLAM implementation)

Thank you very much!

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score 0 · Answer 1 · answered Jul 09 '18 at 20:39

0

Seems like you had same question as me.

I wrote my own answer here which will be the answer to your question 0, 1, 2.

answered Jul 09 '18 at 20:39

Chanoh Park

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Marginalization in Graph SLAM

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