A Polynomial-time Solution for Robust Registration with Extreme Outlier Rates
We propose a robust approach for the registration of two sets of 3D points in the presence of a large amount of outliers. Our first contribution is to reformulate the registration problem using a Truncated Least Squares (TLS) cost that makes the estimation insensitive to a large fraction of spuri...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
Robotics: Science and Systems Foundation
2021
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| Online Access: | https://hdl.handle.net/1721.1/138101.2 |