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Found 2 papers, 1 papers with code
Kalman Filter Is All You Need: Optimization Works When Noise Estimation Fails
Determining the noise parameters of a Kalman Filter (KF) has been studied for decades.
The Fragility of Noise Estimation in Kalman Filter: Optimization Can Handle Model-Misspecification
The Kalman Filter (KF) parameters are traditionally determined by noise estimation, since under the KF assumptions, the state prediction errors are minimized when the parameters correspond to the noise covariance.
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