Kalman-and-Bayesian-Filters-in-Python
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13.3 Types of Smoothers
"If it is possible for you to run your Kalman filter in batch mode it is always recommended to use one of these filters a it will provide much better results than the recursive forms of the filter from the previous chapters." -> "If it is possible for you to run your Kalman filter in batch mode it is always recommended to use one of these filters as it will provide much better results than the recursive forms of the filter from the previous chapters."