The GncOptimizer class. More...
#include <gtsam/nonlinear/GncParams.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/internal/ChiSquaredInverse.h>
Go to the source code of this file.
Classes | |
class | gtsam::GncOptimizer< GncParameters > |
Namespaces | |
gtsam | |
traits | |
Functions | |
static double | gtsam::Chi2inv (const double alpha, const size_t dofs) |
The GncOptimizer class.
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.