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Simultaneous trajectory estimation and mapping (STEAM) offers an efficient approach to continuous-time trajectory estimation, by representing the trajectory as a Gaussian process (GP). Previous formulations of the STEAM framework use a GP prior that assumes white-noise-on-acceleration, with the prior mean encouraging constant body-centric velocity. We show that such a prior cannot sufficiently rep...

A White-Noise-on-Jerk Motion Prior for Continuous-Time Trajectory Estimation on <italic>SE(3)</italic>