Show that $X_t = (1+t)^{-1/2} \exp \biggl( \frac{B_t^2}{2(1+t)} \biggr)$, where $B$ is a Brownian motion, is a martingal.
I understand that we need to show that $\mathbb{E}(X_t \vert \mathcal{F}_s) = X_s$ for all $t \ge s \ge 0$, where $\mathcal{F}$ is the canonical filtration of $X$. However, I do not see how to do this computation as we have no density function here. Could you please explain this to me?