Analysis of Covariance Intersection For Triangulation
In this document I will discuss different implementations of Covariance Intersection (CI) for object triangulation as well as the robustness of CI. For CI methods we will compare the performance of different methods and discuss edge cases which must be considered. For robustness we will focus on the impact of removing sensors on the final fused estimate. Here we look at factors which influence the final fused covariance matrix.