IEEE RA-L

ARC: Adaptive Robust Joint State and Covariance Estimation

ARC：自适应鲁棒联合状态与协方差估计

Alexandre Hadji-Thomas, Andrew Stirling, James R. Forbes

AI总结 提出统一块坐标下降框架，结合自适应鲁棒损失、迭代重加权最小二乘状态更新和最小加权协方差行列式估计器，实现离群值下状态与协方差的自适应联合估计。

Comments Submitted to information IEEE Robotics and Automation Letters (RA-L), June 2026. 8 pages, 7 figures, 1 table