2 papers
cs.RO2026
Certifiable Factor Graph Optimization
Zhexin Xu, Nikolas R. Sanderson, Hanna Jiamei Zhang +1
We show that the factor graph and certifiable estimation paradigms, which have thus far been treated as essentially independent in the literature, can be naturally synthesized into…
cs.RO2026
Implementing Robust M-Estimators with Certifiable Factor Graph Optimization
Zhexin Xu, Hanna Jiamei Zhang, Helena Calatrava +2
Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses…