17. Advanced Filtering Techniques¶
Observation is not the whole story. The robot will be out observing the world, even though the observations often include random noise, you normally have additional information that allows you to remove significant noise. For example, if we are observing motion, we know that not all types of motion will be possible. The basic laws of physics clearly play a role. In addition the design and details of the robot also play a role. These constrain the possibilities and in doing so, help improve our estimates of the robot state.