Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

upsolving underneath a marginalized clique? #474

Closed
dehann opened this issue Dec 12, 2019 · 6 comments · Fixed by #479
Closed

upsolving underneath a marginalized clique? #474

dehann opened this issue Dec 12, 2019 · 6 comments · Fixed by #479
Labels
bayes junction tree bug clique state machine inference marginalization
Milestone
v0.8.3

Comments

@dehann
Copy link
Member

dehann commented Dec 12, 2019 •
edited
Loading

with @tonioteran

is it bad to have marginalized cliques above an upsolving branch:
Screenshot from 2019-12-12 12-30-28
@dehann dehann added this to the v0.8.x milestone Dec 12, 2019
@dehann
Copy link
Member Author

dehann commented Dec 12, 2019

added bug because CSM cannot handle this case yet...

@dehann
Copy link
Member Author

dehann commented Dec 12, 2019

Its not bad, just means we are not updating values in the marginalized parent, and downsolve can continue pretty much as usual.

@dehann
Copy link
Member Author

dehann commented Dec 12, 2019

From the picture, some branches are old parts of the, while other branches are new parts of the factor graph.

@dehann
Copy link
Member Author

dehann commented Dec 12, 2019

pretty much the same as "Concurrent Smoothing and Filtering". Also think of this in Junction tree terms.

@dehann dehann mentioned this issue Dec 14, 2019
Closed
dehann added a commit that referenced this issue Dec 14, 2019
@dehann
csm for when parent marg
fb2fc7c 
fix #474 add csm edge from 7 to 10
@dehann dehann mentioned this issue Dec 14, 2019
Merged
dehann added a commit that referenced this issue Dec 15, 2019
@dehann
save variable order,
ae0c4f8 
#474, not fixed but this will help.

Also probably useful to know @tonioteran
@dehann dehann mentioned this issue Dec 15, 2019
Merged
@dehann dehann reopened this Dec 16, 2019
@dehann
Copy link
Member Author

dehann commented Dec 16, 2019

not all cases resolved yet unfortunately

dehann added a commit that referenced this issue Dec 16, 2019
@dehann
double fix for cases similar to #474
a8e14be
@dehann dehann mentioned this issue Dec 16, 2019
Merged
@dehann
Copy link
Member Author

dehann commented Dec 16, 2019

Screenshot from 2019-12-16 02-41-46

@dehann dehann closed this as completed Dec 16, 2019
@dehann dehann mentioned this issue Dec 17, 2019
Closed
@dehann dehann removed this from the v0.8.x milestone Dec 27, 2019
@dehann dehann added this to the v0.8.3 milestone Dec 27, 2019
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
bayes junction tree bug clique state machine inference marginalization
Projects
None yet
Milestone
v0.8.3
Development

Successfully merging a pull request may close this issue.

fix csm for when parent marginalized JuliaRobotics/IncrementalInference.jl
1 participant
@dehann