CI provides the best balance of accuracy and consistency among the five methods, while StCL and Standard-CL achieve low errors but suffer severe filter inconsistency.
Split covariance intersection filter: Theory and its application to vehicle localization
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Robust Cooperative Localization in Featureless Environments: A Comparative Study of DCL, StCL, CCL, CI, and Standard-CL
CI provides the best balance of accuracy and consistency among the five methods, while StCL and Standard-CL achieve low errors but suffer severe filter inconsistency.