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SLAM (Probabilistic Estimation (Bayes Filters (types (Kalman filters,…

- - - - what is P(open|z)?
      - robot obtains measurement z
  - - - observations
      - action data
    - - Kalman filters
      - Particle filters
      - Hidden Markov
- - - - Beam-based
        
        Random measurements
        
        Failures
        
        unexpected objects
        
        Correct range
      - Scan-based
- - - - occupied
      - free
      - unknown