From: A reduced-complexity scheme using message passing for location tracking
funx(·) | Transition function | funz(·) | Observation function |
---|---|---|---|
○ | Variable node | ■ | Factor node |
One-step prediction | Best estimation | ||
One-step fixed-lag smoothing | s k | Speed estimation | |
x k | Location estimation | z k | Location observation |
f | Speed transition PDF | f k | Local speed transition PDF |
g | Location transition PDF | g k | Local location transition PDF |
h | Location observation PDF | h k | Local location observation PDF |
l | Refined speed observation PDF | l k | Local refined speed observation PDF |
μ x→f (x) | Message from variable node x to factor node f | μ f→x (x) | Message from factor node f to variable node x |
The mean of | Result of speed estimation at the kth state | The mean of | Result of location estimation at the kth state |