Dynamic covariance scaling - DCS. More...

Inheritance diagram for RobustKernelDCS:

Collaboration diagram for RobustKernelDCS:

Public Member Functions
virtual void	robustify (g_type e2, Eigen::Vector3< g_type > &rho) const
	compute the scaling factor for a error: The error is e^T Omega e The output rho is rho[0]: The actual scaled error value rho[1]: First derivative of the scaling function rho[2]: Second derivative of the scaling function
Public Member Functions inherited from RobustKernel
g_type	delta () const
	Returns the current delta (window size) value.
virtual void	setDelta (g_type delta)
	set the window size of the error.

Additional Inherited Members
Protected Attributes inherited from RobustKernel
g_type	_delta = 1.0
	The window size parameter; errors above delta^2 are considered outliers.

Detailed Description

Dynamic covariance scaling - DCS.

See paper Robust Map Optimization from Agarwal et al. ICRA 2013

delta is used as $phi$

Definition at line 150 of file robust_kernel_impl.h.

The documentation for this class was generated from the following file:

Public Member Functions