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PROBE-GK: Predictive robust estimation using generalized kernels

Valentin Peretroukhin, William Vega-Brown, Nicholas Roy, Jonathan Kelly
2016 2016 IEEE International Conference on Robotics and Automation (ICRA)  
By setting a prior on observation uncertainty, we derive a predictive robust estimator, and show how our model can be learned from sample images, both with and without knowledge of the motion used to generate  ...  In practice, dynamic environments may degrade sensor performance in predictable ways that cannot be captured with static uncertainty parameters.  ...  We combine our previous work [4] on predictive robust estimation (PROBE) with our work on covariance estimation [5] to formulate a predictive robust estimator for a stereo visual odometry pipeline.  ... 
doi:10.1109/icra.2016.7487212 dblp:conf/icra/PeretroukhinVRK16 fatcat:eunmzyt3j5arxo5oh6wx2kokla