论文标题
新观察中参数的边际协方差
Marginal Covariance of Parameters in New Observations
论文作者
论文摘要
我们观察到解决新观察中引入的参数边际协方差解决的常见问题。此问题在几种情况下出现，包括将参数扩大到卡尔曼过滤器，并计算相对姿势约束的权重。为了解决这个问题，我们在最小二乘意义上得出了一个解决方案。该解决方案应用于上述两个实例情况，并通过独立报告的结果验证。
We have observed a common problem of solving for the marginal covariance of parameters introduced in new observations. This problem arises in several situations, including augmenting parameters to a Kalman filter, and computing weight for relative pose constraints. To handle this problem, we derive a solution in a least squares sense. The solution is applied to the above two instance situations and verified by independently reported results.
