Robust error estimation based on factor-graph models for non-line-of-sight localization
Abstract This paper presents a method to estimate the covariances of the inputs in a Suction Canisters and Liners factor-graph formulation for localization under non-line-of-sight conditions.A general solution based on covariance estimation and M-estimators in linear regression problems, is presented that is shown to give unbiased estimators of mul