An adaptive loss function for nonlinear MHE adapts its shape to outliers in a few iterations and behaves like L2 loss on clean measurements.
Outlier robust state estimation through smoothing on a sliding window
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Outlier-Robust Nonlinear Moving Horizon Estimation using Adaptive Loss Functions
An adaptive loss function for nonlinear MHE adapts its shape to outliers in a few iterations and behaves like L2 loss on clean measurements.