From: Robust error estimation based on factor-graph models for non-line-of-sight localization
Method | Huber’s t | Cauchy | OLS |
---|---|---|---|
Weight | \(\tau _i= \left\{ \begin{array}{cc} 1.0 &{} \text {if } |z_i|\le a_H \\ a_H/|z_i| &{} \text {if } |z_i|> a_H\end{array}\right.\) | \(\tau _i=1/(1+(z_i/a_C)^2)\) | \(\tau _i=1\) |
Loss fnc | \(\rho _i= \left\{ \begin{array}{cc} 1/2 z_i^2 &{} \text {if } |z_i|\le a_H \\ |z_i|a_H-1/2a_H^2 &{} \text {if } |z_i|> a_H\end{array}\right.\) | \((a_C^2/2)\log (1+(z_i/a_C)^2)\) | \(1/2 z_i^2\) |
Parameter | \(a_H\) | \(a_C\) | NA |