Pose Estimation question

I have been really interested in pose estimation and I was wondering how exactly it works and how teams use it to gain an advantage in a match?

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WPILib has documentation on this, and it should explain it in a somewhat concise way.

https://docs.wpilib.org/en/stable/docs/software/advanced-controls/state-space/state-space-pose_state-estimators.htm

I will look for some whitepapers/other docs & post them later.

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