Robust factor graph optimization - a comparison for sensor fusion applications

While many applications of sensor fusion suffer from the occurrence of outliers, a broad range of outlier robust graph optimization techniques has been developed for simultaneous localization and mapping. In this paper we investigate the performance of some of the most advanced algorithms for a simulated wireless localization setting affected by non-Gaussian errors. With this first analysis we can show some of the advantages and disadvantages that are connected with the different concepts behind Max-Mixture, Generalized iSAM, Switchable Constraints and Dynamic Covariance Scaling.