Smoothness Energy Function
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![Smoothness Energy Function [2204.01796] Free Energy Principle for the Noise Smoothness Estimation ...](https://ar5iv.labs.arxiv.org/html/2204.01796/assets/pics_arxiv/drone_s_est.png)






![Smoothness Energy Function [2204.01796] Free Energy Principle for the Noise Smoothness Estimation ...](https://ar5iv.labs.arxiv.org/html/2204.01796/assets/pics_arxiv/SSE_s_KF.png)





![Smoothness Energy Function [2204.01796] Free Energy Principle for the Noise Smoothness Estimation ...](https://ar5iv.labs.arxiv.org/html/2204.01796/assets/pics_arxiv/monotonic1.png)



















































































