Towards Robust State Estimation by Boosting the Maximum Correntropy Criterion Kalman Filter With Adaptive Behaviors
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DOI: 10.1109/lra.2021.3073646
Abstract: This work proposes a resilient and adaptive state estimation framework for robots operating in perceptually-degraded environments. The approach, called Adaptive Maximum Correntropy Criterion Kalman Filtering (AMCCKF), is inherently robust to corrupted measurements, such as those… read more here.
Keywords: state estimation; maximum correntropy; criterion kalman; correntropy criterion ... See more keywords