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 - - PowerPoint PPT Presentation

Oct 19, 2022 33 likes •158 views

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:

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Point sets, Maps and Navigation - II

D.A. Forsyth

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Robustness is a serious problem

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Robustness is a serious problem

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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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