Windowing-Based Factor Graph Optimization With Anomaly Detection Using Mahalanobis Distance for Underwater INS/DVL/USBL Integration.
Xun DongGaoge HuBingbing GaoYongmin ZhongWei RuanPublished in: IEEE Trans. Instrum. Meas. (2024)
Keyphrases
- anomaly detection
- mahalanobis distance
- factor graphs
- noise model
- euclidean distance
- covariance matrix
- metric learning
- unsupervised learning
- graphical models
- belief propagation
- latent variables
- message passing
- distance metric
- optimization procedure
- data sets
- approximate inference
- exact inference
- multi dimensional
- data distribution
- bayesian networks
- database systems
- machine learning