GncOptimizer.h File Reference

The GncOptimizer class. More...

#include <gtsam/nonlinear/GncParams.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/internal/ChiSquaredInverse.h>

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Classes
class	gtsam::GncOptimizer< GncParameters >

Namespaces
	gtsam
	traits

Functions
static double	gtsam::Chi2inv (const double alpha, const size_t dofs)

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.

Definition in file GncOptimizer.h.