Abstract
Robust state estimation plays a key role in mobile robotic navigation, and the M-estimation technique can effectively handle outliers. In this paper, the commonly used robust cost functions for M-estimation are given, and their cost, influence, and weight functions are summarized and compared.
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Acknowledgements
This work was supported by the Pre-Research Project of Space Science (No. XDA15014700), the National Natural Science Foundation of China (No. 61601328), the Scientific Research Plan Project of the Committee of Education in Tianjin (No. JW1708), and the Doctor Foundation of Tianjin Normal University (No. 52XB1417).
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Wang, Y. (2021). A Review of Robust Cost Functions for M-Estimation. In: Liang, Q., Wang, W., Liu, X., Na, Z., Li, X., Zhang, B. (eds) Communications, Signal Processing, and Systems. CSPS 2020. Lecture Notes in Electrical Engineering, vol 654. Springer, Singapore. https://doi.org/10.1007/978-981-15-8411-4_99
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DOI: https://doi.org/10.1007/978-981-15-8411-4_99
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