Corpus ID: 219636251

One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers

@article{Yang2020OneRT,
  title={One Ring to Rule Them All: Certifiably Robust Geometric Perception with Outliers},
  author={Heng Yang and L. Carlone},
  journal={ArXiv},
  year={2020},
  volume={abs/2006.06769}
}
We propose a general and practical framework to design certifiable algorithms for robust geometric perception in the presence of a large amount of outliers. We investigate the use of a truncated least squares (TLS) cost function, which is known to be robust to outliers, but leads to hard, nonconvex, and nonsmooth optimization problems. Our first contribution is to show that -for a broad class of geometric perception problems- TLS estimation can be reformulated as an optimization over the ring… Expand

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