Group-$k$ Consistent Measurement Set Maximization for Robust Outlier Detection
Brendon Forsgren,Ram Vasudevan,Michael Kaess,Timothy W. McLain,Joshua G. Mangelson,Brendon Forsgren,Ram Vasudevan,Michael Kaess,Timothy W. McLain,Joshua G. Mangelson
This paper presents a method for the robust selection of measurements in a simultaneous localization and mapping (SLAM) framework. Existing methods check consistency or compatibility on a pairwise basis, however many measurement types are not sufficiently constrained in a pairwise scenario to determine if either measurement is inconsistent with the other. This paper presents group-$k$ consistency ...
