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ICRA 2021: CLIPPER: A Graph-Theoretic Framework for Robust Data Association

Опубликовано: 14 Май 2025
на канале: AerospaceControlsLab
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Given a set of initial correspondences (e.g., between two point clouds), CLIPPER uses graph theoretic ideas to identify a subset of correspondences that agree based on geometry. Solutions are identified quickly and accurately, enabling robust data association in high outlier regimes in milliseconds.


Code: https://mit-acl.github.io/clipper
Paper: https://arxiv.org/abs/2011.10202

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