Cut-off strategy means to use only first N observations to do polyak averaging, and stop updating landmark after N observation.

The cut-off strategy has two advantages:

  • More robust than traditional polyak averaging in both global observation model and intermittent observation model
  • Able to achieve loop closure in intermittent observation model!

Assume everything else (i.e. environment, input, noise covariance etc.) is similar, here is a comparison between two scenario

With cut-off:

Without cut-off:

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