CredibleDFGO extends DFGO by training a weighting network with NLL and energy score supervision so that the Hessian-derived covariances better match actual positioning errors on UrbanNav scenes.
Proceedings of the 34th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2021) , pages =
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CredibleDFGO: Differentiable Factor Graph Optimization with Credibility Supervision
CredibleDFGO extends DFGO by training a weighting network with NLL and energy score supervision so that the Hessian-derived covariances better match actual positioning errors on UrbanNav scenes.