A closed-form covariance update plus a plug-in alternating algorithm lets SLAM systems jointly learn sensor noise and states without a separate calibration stage.
Exactly sparse Gaussian variational inference with appli- cation to derivative-free batch nonlinear state estimation
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Joint State and Noise Covariance Estimation
A closed-form covariance update plus a plug-in alternating algorithm lets SLAM systems jointly learn sensor noise and states without a separate calibration stage.