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Bayesian State Estimation
Bayesian State Estimation
5 questions
Difficulty 4-6
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Intermediate
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state theorem
Bayesian state estimation recursively updates a belief over a hidden state as new observations arrive. What are the two steps of each iteration?
Hide and think first
A.
Compute the MAP estimate, then propagate the MAP forward deterministically without uncertainty
B.
Linearize the dynamics, then apply matrix inversion to solve for the next state exactly
C.
Sample: draw from the prior. Sample: resample from the posterior. Both steps use importance weights
D.
Predict: propagate belief through the state dynamics. Update: apply Bayes' rule with the new observation
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