Graph-Theoretic Outlier Rejection: From Instance to Category-Level Perception
In this thesis, we study the problem of outlier pruning for robust estimation. Robust estimation is the workhorse for many perception problems, from object pose estimation to robot localization and mapping. In these problems, the robot has to estimate quantities of interest in the face of outliers....
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/139117 |