State Estimation

State estimation refers to the process of determining the current state of a system based on measurements and a model of the system dynamics.

States can be anything, it doesn’t have to be a position. Ex: In the context of aircrafts, you can do state estimation for the fuel level and engine performance.

Localization is the most popular use case of State Estimation.



Seen from Visual SLAM book:

Whether the motion and observation equations are linear and whether the noise is assumed to be Gaussian, it is divided into

  • linear/nonlinear and
  • Gaussian/non-Gaussian systems