Adaptive Robust Kernels for Non-Linear Least Squares Problems
international conference on robotics and automation, pp. 1-1, 2021.
State estimation is a key ingredient in most robotic systems. Often, state estimation is performed using some form of least squares minimization. Basically, all error minimization procedures that work on real-world data use robust kernels as the standard way for dealing with outliers in the data. These kernels, however, are often hand-p...More
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