Additional file 1 of A Bayesian robust Kalman smoothing framework for state-space models with uncertain noise statistics Roozbeh Dehghannasiri Xiaoning Qian Edward R. Dougherty 10.6084/m9.figshare.7056818.v1 https://springernature.figshare.com/articles/journal_contribution/Additional_file_1_of_A_Bayesian_robust_Kalman_smoothing_framework_for_state-space_models_with_uncertain_noise_statistics/7056818 Supplementary materials. This is a file in PDF format that provides a pseudo-code outlining the required steps for the factor graph-based approach for computing the likelihood function. (PDF 253 kb) 2018-09-06 05:00:00 Kalman smoother Robust filtering Bayesian robustness Innovation process Orthogonality principle