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Shonan edits#769

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travisdriver wants to merge 28 commits intomasterborglab/gtsfm:masterfrom shonan-editsborglab/gtsfm:shonan-editsCopy head branch name to clipboard

+627-31

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Commits on Dec 19, 2023

• Add GNC rotation averaging

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  8ad3453

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• Update unified config

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• Add combined Shonan and GNC

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Commits on Dec 20, 2023

• Switch to combined Shonan and GNC

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• Increase num_matched to 10

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• Initialize GNC with MST

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• Debugging MST

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• Remove MST max iterations

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• Use Shonan weighted by # inliers

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• Increase max p to 64

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• Use Huber loss

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• Use Huber

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Commits on Dec 21, 2023

• Weight GNC with matches

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• Dummy push to make CI run

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• IW-Shonan w/ Huber

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Commits on Jan 22, 2024

• Testing Huber loss

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• Switch to Shonan

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  a9e56b6

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Commits on Jan 23, 2024

• Increase k to 0.2

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• Use Geman McClure

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• Huber k=1.0

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• Initialize robust error with non-robust solution

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• Initialize robust error with non-robust solution

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• Increase p_max

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Commits on Jan 24, 2024

• Change Huber to k=0.1

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• Turn off robust error

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• Increase p_max

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Commits on Jan 25, 2024

• Merge branch 'master' of https://github.com/borglab/gtsfm into shonan-edits

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Commits on Mar 7, 2024

• fix merge conflict

  

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