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Bundle adjustment is another popular technique for SLAM using image data, which jointly estimates poses and landmark positions, increasing map fidelity, and is used in commercialized SLAM systems such as Google's Project Tango.
While this initially appears to be a chicken-and-egg problem there are several algorithms known for solving it, at least approximately, in tractable time for certain environments.
They provide an estimation of the posterior probability function for the pose of the robot and for the parameters of the map.
Set-membership techniques are mainly based on interval constraint propagation.
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