Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
Mind the Gap: Norm-Aware Adaptive Robust Loss for Multivariate Least-Squares Problems
Measurement outliers are unavoidable when solving real-world robot state estimation problems. A large family of robust loss functions (RLFs) exists to mitigate the effects of outliers, including newly developed adaptive methods that do not require parameter tuning. All of these methods assume that residuals follow a zero-mean Gaussian-like distribution. However, …