Marginalization of factors

symforce-org / symforce

Fast symbolic computation, code generation, and nonlinear optimization for robotics

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Marginalization of factors #283

Open hanskumarKEF opened 1 year ago

hanskumarKEF commented 1 year ago

Would be great to have ability to easily marginalize factors so that we could easily implement fixed lag smoother.

sudo-robot-destroy commented 1 year ago

I agree that would be great, I've wondered about how to implement a fixed lag smoother but haven't been able to wrap my head around it. Built-in marginalization would be nice.

ZepherusFF commented 1 year ago

Just stumbled through this thread while reading up about Symforce... I'm confused how this is then used for real-time/online applications (for example, a Skydio drone) if this doesn't exist. I would compare this to having a NonLinearFactorGraph object vs ISAM2 that marginalizes (if we're comparing to GTSAM). Surely it's not tractable to have your factor graph grow indefinitely ? Am I missing something ?