A Decoupled and Linear Framework for Global Outlier Rejection over Planar Pose Graph
Tianyue Wu,Fei Gao,Tianyue Wu,Fei Gao
We propose a robust framework for planar pose graph optimization contaminated by loop closure outliers. Our framework rejects outliers by first decoupling the robust PGO problem wrapped by a Truncated Least Squares kernel into two subproblems. Then, the framework introduces a linear angle representation to rewrite the first subproblem that is originally formulated in rotation matrices. The framewo...
