Estimating the landmarks given the robot’s poses, which means

that we know where the robot is, but not what the environment looks like.

1 and 2

Determine the pose of the landmarks and the robot given a

perfect ego estimate of the robot’s position, and a sequence of measurements

from the environment.

Estimating the robot’s pose given landmarks, which means that we

know what the environment looks like, but not where the robot is.