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simmediumroboticsmetric · varies
Implementing Robust M-Estimators with Certifiable Factor Graph Optimization
Description
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses the problem of outliers through robust loss functions, it creates severely nonconvex problems that are difficult to solve globally. Adaptive reweighting schemes provide one particularly appealing strategy for implementing M-estimation in practice: these methods solve a sequence of simpler weighted least squares (WLS)