Dynamical Pose Estimation with Graduated Non-Convexity for Outlier Robustness
In this paper we develop a method for relative pose estimation for two sets of corresponding geometric primitives in 3D with a significant outlier fraction. This is done by using dynamical pose estimation as a solver in registration problems formulated with graduated non-convexity for truncated leas...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2022-04-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2022/MIC-2022-2-3.pdf |