Why filter

Filtering methods marginalise out past poses and summarise the information gained over time with a probability distribution. Keyframe methods retain the optimisation approach of global bundle adjustment, but computationally must select only a small number of past frames to process. In this paper we perform the first rigorous analysis of the relative advantages of filtering and sparse optimisation for sequential monocular SLAM.

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While taste is an important reason, filtration has several health benefits too. The carbon acts as a net, catching chlorine and organic contaminants like bacteria as well as some of the nastier contaminants like mercury and lead.

Container filters — deliver treated water through a dedicated drinking water tap from under the sink. Jug filters — convert tap water into filtered water but these are a less hygienic and more expensive option than their under sink counterparts. In their experiment, tap water had lower bacteria levels.