Embedded Deformation graphs in SLAM are unobservable without motion priors; a linear combination of previous shapes resolves this for regular deforming environments.
Conver- gence and consistency analysis for a 3-d invariant-ekf slam,
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An observable time series based SLAM algorithm for deforming environment
Embedded Deformation graphs in SLAM are unobservable without motion priors; a linear combination of previous shapes resolves this for regular deforming environments.