Discussion
What is the role of the transition model in state estimation?
Answer: A
The transition model supplies the prediction step, saying how likely each next state is given the current state and the action, while the sensor model supplies the correction step. Action selection and performance measurement are separate functions. Naming the two models and the two steps precisely makes every filtering algorithm, from the Kalman filter to a particle filter, recognisable as the same structure with different representations.
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