One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers

11 Jun 2020Heng YangLuca Carlone

We propose a general and practical framework to design certifiable algorithms for robust geometric perception in the presence of a large amount of outliers. We investigate the use of a truncated least squares (TLS) cost function, which is known to be robust to outliers, but leads to hard, nonconvex, and nonsmooth optimization problems... (read more)

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