Joshua G. Mangelson

Group-$k$ Consistent Measurement Set Maximization for Robust Outlier Detection

2022 · 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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 …