GNCGCP comprises two sub-procedures, graduated nonconvexity (GNC) which realizes a convex relaxation and graduated concavity (GC) which realizes a concave relaxation. It is proved that GNCGCP realizes exactly a type of convex-concave relaxation procedure (CCRP), but with a much simpler formulation...
Carlone,“Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection,” IEEE Robotics and Automation Letters (RA-L), 2020. (pdf) [2] H. Yang and L. Carlone,“A quaternion-based certifiably optimal solution to the Wahba problem with outliers,”...
The graduated nonconvexity (GNC) algorithm could help machines traverse land, water, sky, and space—and come back to tell the tale. Closing the loop is actually a technical term for something robots frequently have to do when navigating new environments. It’s part of a process called simult...
GNCGraduated Non-Convexity(image processing algorithm) GNCGreen National Committee GNCGreater Newark Conservancy GNCGetting Needed Care(health scale) GNCGuidance and Navigation Computer GNCGMFSC Network Controller GNCGaz Non Conventionnels(French: Unconventional Gas) ...
另一方面,ADAPT算法则采用自适应修剪的方法,动态地调整数据对模型参数的影响,以应对数据中的异常值。这些算法的结合使得估计过程对异常值更加鲁棒,能够更准确地反映数据的真实特征,对于处理实际应用中存在异常值干扰的数据具有重要意义。Graduated Non-Convexity (GNC) and Adaptive Trimming (ADAPT) algorithms for ...
Header-based library for robust estimation: Graduated Non-Convexity + Black-Rangarajan duality. Code associated to the paper:Fast and Robust Relative Pose Estimation for Calibrated Cameras Authors:Mercedes Garcia-Salguero,Javier Gonzalez-Jimenez
Graduated non-convexityImage reconstruction is formulated as the problem of minimizing a non-convex functional F(ƒ) in which the smoothness stabilizer implicitly refers to a continuous-valued line process. Typical functionals proposed in the literature are considered. The minimum of F(ƒ) is ...
In this paper the concept of graduated nonconvexity (GNC) is applied to the problem of evaluating the parameter function. It is shown that the application of GNC to the parameter function and the construction and evaluation of a pyramid of spatially smooth and subsampled images are equivalent ...
Initial convexity of the approximating functional is considered to be a critical point. Two fully automatic methods of generating convex functionals are presented. They are based on Gaussian convolution and are compared to the Blake-Zisserman graduated non convexity (GNC) (A. Blake, A. Zisserman, ...