Covariance consistency methods for fault-tolerant distributed data fusion

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A survey of data fusion in smart city applications (2019, methodology): “Common techniques under this category are Maximum Like-lihood [62], Kalman Filter [63], Particle Filter [64], and Covariance Consistency Model [65].”
A Review of Data Fusion Techniques (2013, methodology): “Because the computation of the cross-covariances is computationally intensive, Uhlmann [43] proposed the covariance intersection (CI) algorithm.”
Approaches to Multisensor Data Fusion in Target Tracking: A Survey (2006, methodology): “Uhlmann [194] also showed that this technique can also reject outliers.”
Multisensor data fusion: A review of the state-of-the-art (2013, unknown): “correlated but may also be conflicting [144].”