Outlier removal for absolute pose constraints

ethz-asl / maplab

A Modular and Multi-Modal Mapping Framework

https://maplab.asl.ethz.ch

Apache License 2.0

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Outlier removal for absolute pose constraints #215

Closed mfehr closed 4 years ago

mfehr commented 4 years ago

Adds consistency check function to detect and remove outliers in absolute pose constraints by applying RANSAC LSQ on the base frame resulting from each constraint, i.e. it tries to find a rigid alignment (= map anchoring) of the map based on the constraints and removes all outliers. The idea is to run this on the submaps in the maplab server, which are small enough to not have accumulated significant drift, hence a rigid alignment should be possible.