A non-linear process will have different response across the operating range. It will be sluggish at one end of the range and comparatively faster or even oscillatory at the other. In the graph taken ...

This is the homework in CMU 16833-Robot Localization and Mapping Spring 2021. Different from the EKF SLAM, which is proactive, the offline SLAM algorithm can be viewed as a Least-Square problem: it ...