SLAM state vector

SLAM approaches can be classified by many criteria. Refer, for example, to cadena2016ppf for a recent survey.

Regarding the state space representation, we find two fundamental approaches: continuous-time SLAM (which was relatively recent), and the omnipresent discrete-time SLAM based on only mapping some selected Keyframes from the continuous stream of sensory data.

_images/mola-slam-representations.png