Mapping Localization:given map and observed landmarks,update pose distribution Mapping:given pose and observed landmarks,update map distribution SLAM:given observed landmarks,update pose and map distribution Probabilistic formulation of SLAM: add landmark locations L1,...,L to the state vector, proceed as for localization Chapter 25 11Mapping Localization: given map and observed landmarks, update pose distribution Mapping: given pose and observed landmarks, update map distribution SLAM: given observed landmarks, update pose and map distribution Probabilistic formulation of SLAM: add landmark locations L1, . . . , Lk to the state vector, proceed as for localization Chapter 25 11