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In this paper, a robust pattern recognition system, using an appearance-based representation of colour images is described. Standard appearance-based approaches are not robust to outliers, occlusions or segmentation errors. The approach proposed here relies on robust M-estimators, involving non-quadratic and possibly non-convex energy functions. To deal with the minimisation of non-convex functions in a deterministic framework, we introduce an estimation scheme relying on M-estimators used indoi:10.1109/cvpr.2000.855886 dblp:conf/cvpr/CharbonnierH00 fatcat:uds5ypcapfg27igsrdnnyfkxxq