文件名称：Robust Estimation and Applications in Robotics
文件大小：2.65MB
文件格式：PDF
更新时间：2022-01-28 19:43:58
鲁邦估计 机器人
The goal of this tutorial is helping to address the aforementioned challenges by providing an introduction to robust estimation with a particular focus on robotics. First, this is achieved by giving a concise overview of the theory on M-estimation. M-estimators share many of the convenient properties of least-squares estimators, and at the same time are much more robust to deviations from the Gaussian model assumption. Second, we present several example applications where M-Estimation is used to increase robustness against nonlinearities and outliers.