For a new 'common noise' model of fused estimates, the derived bounds show the optimal single fused bound equals Covariance Intersection's, while the whole family of bounds is improved.
On optimal track-to- track fusion,
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Dual Approach to Inverse Covariance Intersection Fusion
For a new 'common noise' model of fused estimates, the derived bounds show the optimal single fused bound equals Covariance Intersection's, while the whole family of bounds is improved.