| Robust
error models |
|
|
|
|
|
|
|
|
|
| Outlier rejection |
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| • | use robust
penalty applied |
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| to each set of
joint |
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| measurements |
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| • | for extremely bad
data, use random sampling |
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| [RANSAC, Fischler
& Bolles, CACM’81] |
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