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:
