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: | Yang, Heng, Carlone, Luca |
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Other Authors: | Massachusetts Institute of Technology. Laboratory for Information and Decision Systems |
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 |
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