There are various uncertainties as there could be an error in observation, an error in the pose, the error accumulated, and an error in the mapping. The map and the robot path both are unknown. Any error in the robot path corresponds to the errors in the map. Observations and landmarks are unknown in the mapping in the real world. Also, if the wrong data is picked, there could be catastrophic consequences. The error in the pose correlates to the data associations.

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