In a typical EKF-SLAM implementation with non-unique landmarks (i.e. landmarks that cannot be easily "read" by the sensor for their ID) the predictions and observations are matched using

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a probabilistic method applying Bayes filter

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using Hamming distance

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a probabilistic method with Mahalanobis distance

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In a typical EKF-SLAM implementation with non-unique landmarks (i.e. landmarks t...

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