Adaptive Outlier Thresholding for Bundle Adjustment in Visual SLAM
Alejandro Fontan,Javier Civera,Michael Milford,Alejandro Fontan,Javier Civera,Michael Milford
State-of-the-art V-SLAM pipelines utilize robust cost functions and outlier rejection techniques to remove incorrect correspondences. However, these methods are typically fine-tuned to overfit certain benchmarks and struggle to adapt effectively to changes in the application domain or environmental conditions. This renders them impractical for many robotic applications in which robustness in a wid...
