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cs.RO2025
An SE(3) Noise Model for Range-Azimuth-Elevation Sensors
Thomas Hitchcox, James Richard Forbes
Scan matching is a widely used technique in state estimation. Point-cloud alignment, one of the most popular methods for scan matching, is a weighted least-squares problem in which…
cs.RO2024
An Adaptive Graduated Nonconvexity Loss Function for Robust Nonlinear Least Squares Solutions
Kyungmin Jung, Thomas Hitchcox, James Richard Forbes
Many problems in robotics, such as estimating the state from noisy sensor data or aligning two point clouds, can be posed and solved as least-squares problems. Unfortunately, vanil…