GncOptimizer.h File Reference

The GncOptimizer class. More...

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Classes
class	gtsam::GncOptimizer< GncParameters >

Namespaces
namespace	gtsam
	Global functions in a separate testing namespace.

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.