Tingting Chang Liang Zhao Qingxi Zeng Multi-Kernel Maximum Correntropy Error State Kalman Filter For LiDAR-Inertial State Estimator. 341-346 2023 RICAI https://doi.org/10.1109/RICAI60863.2023.10489657 conf/ricai/2023 db/conf/ricai/ricai2023.html#ChangZZ23