30. Observation Model Introduction

Observation Model Intro

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Observation Model

p(zt∣xt,z1:t−1,u1:t,m) p(z_t|x_t,z_{1:t-1},u_{1:t},m)

Motion Model

p(xt∣z1:t−1,u1:t,m) p(x_t|z_{1:t-1},u_{1:t},m)

Quiz: Simplifying the Observation Model

How can we manipulate/simplify the observation model?

What “trick” can we use there, which helps us to manipulate/simplify the observation model:

SOLUTION: Using the Markov Assumption (Completeness of the State Assumption)

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