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ceres 5 核函数

1 year ago

source link: https://charon-cheung.github.io/2023/01/08/SLAM%E5%B7%A5%E5%85%B7/ceres%205%20%E6%A0%B8%E5%87%BD%E6%95%B0/
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ceres 5 核函数

ceres 5 核函数

2023-01-08|SLAM工具|

Word count: 71|Reading time: 1 min

核函数：某个数据点的残差过大的时候，降低其权重。以曲线拟合为例，

我们拟合点的时候，显然希望红线而不是黄线，outlier可以抛弃。

残差大于0.1则降低其权重
ceres::LossFunction *loss_function = new ceres::HuberLoss(0.1);

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