FracGM

Python and C++ implementation of "FracGM: A Fast Fractional Programming Technique for Geman-McClure Robust Estimator."

⚙️ Settings

sudo apt update
# python (optional)
sudo apt install -y python3 python3-dev
python3 -m pip install numpy scipy
# c++ (optional)
sudo apt install -y g++ build-essential cmake
sudo apt install -y libeigen3-dev

💽 Implementation

• 🦀 Official Implementation
• 🐍 Python Implementation
• 🥐 C++ Implementation

📝 Note

• The implementation does not include the maximum clique inlier selection (MCIS) feature.

• For more information, please refer to our paper:

  Bang-Shien Chen, Yu-Kai Lin, Jian-Yu Chen, Chih-Wei Huang, Jann-Long Chern, Ching-Cherng Sun, FracGM: A Fast Fractional Programming Technique for Geman-McClure Robust Estimator. To appear in IEEE Robotics and Automation Letters (RA-L), 2024. (paper) (preprint) (code)