Point sets, Maps and Navigation - II D.A. Forsyth Robustness is a - PowerPoint PPT Presentation

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Point sets, Maps and Navigation - II D.A. Forsyth Robustness is a serious problem Robustness is a serious problem Key issue: Squaring a large number produces a huge number A few wildly mismatch points can throw off R, t Fixes:

Point sets, Maps and Navigation - II D.A. Forsyth
Robustness is a serious problem
Robustness is a serious problem
Key issue: • Squaring a large number produces a huge number • A few wildly mismatch points can throw off R, t • Fixes: • remove matches with “large” distances • actually, quite good • but what happens if new such pairs emerge? • apply an M-estimator • deals with new pairs You should have watched the IRLS movie for regression by now

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