记地图为m, t时刻机器人位姿为x(t),观测信息为z(t),控制信息为u(t),从起始时刻到当前时刻的机器人位姿序列为X(t)={x(0),x(1),...,x(t)},观测序列为Z(t)={z(0),z(1),...,z(t)}, 控制序列为U(t-1)={u(0), u(1), ..., u(t-1)},问下面哪一个是概率架构下机器人实时自定位问题的正确表示?
A.
E[X(t) | Z(t), U(t-1), m]
B.
p(X(t) | Z(t), U(t-1), m)
C.
E[x(t) | Z(t), U(t-1), m]
D.
p(x(t) | Z(t), U(t-1), m)