GncOptimizer.h File Reference

The GncOptimizer class. More...

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Classes
struct	gtsam::GncIterationTiming
	Timing of one GNC outer iteration (all in seconds). More...
struct	gtsam::GncTiming
	Timing of a full GncOptimizer::optimize() call. More...
class	gtsam::GncOptimizer< GncParameters >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

Enumerations
enum class	gtsam::GncFactorType {   gtsam::Normal , gtsam::Inlier , gtsam::Outlier , gtsam::NonNoiseModel ,   gtsam::NullPointer }
	Enum to classify factor types in GNC optimization. More...

Functions
double	gtsam::Chi2inv (const double alpha, const size_t dofs)
bool	gtsam::isNullType (GncFactorType type)
bool	gtsam::isNonNoiseModelType (GncFactorType type)
bool	gtsam::needsWeightUpdate (GncFactorType type)
bool	gtsam::hasNoise (GncFactorType type)

Detailed Description

The GncOptimizer class.

Author

Jingnan Shi

Luca Carlone

Frank Dellaert

Implementation of the paper: Yang, Antonante, Tzoumas, Carlone, "Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection", ICRA/RAL, 2020. (arxiv version: https://arxiv.org/pdf/1909.08605.pdf)

See also: Antonante, Tzoumas, Yang, Carlone, "Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications", arxiv: https://arxiv.org/pdf/2007.15109.pdf, 2020.

Author

Jingnan Shi

Luca Carlone

Frank Dellaert

Implementation of the paper: Yang, Antonante, Tzoumas, Carlone, "Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection", ICRA/RAL, 2020. (arxiv version: https://arxiv.org/pdf/1909.08605.pdf)

See also: Antonante, Tzoumas, Yang, Carlone, "Outlier-Robust Estimation: Hardness, Minimally-Tuned Algorithms, and Applications", arxiv: https://arxiv.org/pdf/2007.15109.pdf, 2020.

Note: To adhere to GTSAM's definition of the control parameter $\mu$ we redefine the publications (above) parameter of $\mu$ as $\lambda$ in this implementation.