svo的Supplementary matterial 推导过程

在看本博客之前请先看svo的Supplementary matterial .以下的过程借鉴了肖师兄的depth filter.pdf和高翔的推导，将给出公式(17)-(26)的推导推导过程，如果发现有错误之处，敬请指正.(qq:1347893477)

$$\begin{align} &(\pi N(x|Z,\tau^2))+(1-\pi)U(x))N(Z|\mu,\sigma^2)Beta(\pi|a,b) \tag{17}\\ =&\pi N(x|Z,\tau^2)N(Z|\mu,\sigma^2)Beta(\pi|a,b)+(1-\pi)U(x)N(Z|\mu,\sigma^2)Beta(\pi|a,b) \notag \\ =&\dfrac{a}{a+b}N(Z|\mu,\sigma^2)N(Z|\mu,\sigma^2)Beta(\pi|a+1,b) + \dfrac{b}{a+b}U(x)N(Z|\mu,\sigma^2)Beta(\pi|a,b+1) \notag \\ =&\dfrac{a}{a+b}N(x|\mu,\sigma^2+\tau^2)N(Z|m,s^2)Beta(\pi|a+1,b) + \dfrac{b}{a+b}U(x)N(Z|\mu,\sigma^2)Beta(\pi|a,b+1) \tag{18} \end{align}$$
对比可知： $N(x|Z,\tau^2)N(x|Z,\sigma^2)=N(x|\mu,\sigma^2+\tau^2)N(Z|m,s^2)$\
取出 $N(x|Z,\tau^2)N(x|Z,\sigma^2)$展开为：

===========N(x|Z,τ2)N(Z|μ,σ2)12π−−√τe−(x−Z)22τ2⋅12π−−√σe−(Z−μ)22σ212πτσe−(x−Z)22τ2−(Z−μ)22σ212πτσe−σ2(x−Z)2+τ2(Z−μ)22τ2σ212πτσe−(σ2+τ2)Z2−2(xσ2+μτ2)Z+x2σ2+μ2τ22τ2σ212π(σ2+τ2)−−−−−−−−−√12πσ2τ2(σ2