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Published 20 hours ago • verified publisher icon symforce-org

Marginalization of factors

Open hanskumarKEF opened this issue 2 years ago • 2 comments

Would be great to have ability to easily marginalize factors so that we could easily implement fixed lag smoother.

hanskumarKEF avatar Dec 22 '22 16:12 hanskumarKEF

I agree that would be great, I've wondered about how to implement a fixed lag smoother but haven't been able to wrap my head around it. Built-in marginalization would be nice.

sudo-robot-destroy avatar Dec 23 '22 00:12 sudo-robot-destroy

Just stumbled through this thread while reading up about Symforce... I'm confused how this is then used for real-time/online applications (for example, a Skydio drone) if this doesn't exist. I would compare this to having a NonLinearFactorGraph object vs ISAM2 that marginalizes (if we're comparing to GTSAM). Surely it's not tractable to have your factor graph grow indefinitely ? Am I missing something ?

ZepherusFF avatar Mar 14 '23 14:03 ZepherusFF