Implementing Robust M-Estimators with Certifiable Factor Graph Optimization

TL;DR

This paper introduces a method for robust parameter estimation in robotics and computer vision that combines adaptive reweighting with certifiable solvers for nonconvex problems, ensuring globally optimal solutions within factor graph frameworks.

Contribution

It presents a novel approach to implement adaptively reweighted M-estimators with certifiable solvers for inner WLS problems on smooth manifolds, enhancing robustness and solution quality.

Findings

Outperforms local search methods in pose-graph optimization and landmark SLAM.

Provides globally optimal solutions with certifiable guarantees.

Scales effectively to realistic problem sizes.

Abstract

Parameter estimation in robotics and computer vision faces formidable challenges from both outlier contamination and nonconvex optimization landscapes. While M-estimation addresses the problem of outliers through robust loss functions, it creates severely nonconvex problems that are difficult to solve globally. Adaptive reweighting schemes provide one particularly appealing strategy for implementing M-estimation in practice: these methods solve a sequence of simpler weighted least squares (WLS) subproblems, enabling both the use of standard least squares solvers and the recovery of higher-quality estimates than simple local search. However, adaptive reweighting still crucially relies upon solving the inner WLS problems effectively, a task that remains challenging in many robotics applications due to the intrinsic nonconvexity of many common parameter spaces (e.g. rotations and poses). In this paper, we show how one can easily implement adaptively reweighted M-estimators with certifiably correct solvers for the inner WLS subproblems using only fast local optimization over smooth manifolds. Our approach exploits recent work on certifiable factor graph optimization to provide global optimality certificates for the inner WLS subproblems while seamlessly integrating into existing factor graph-based software libraries and workflows. Experimental evaluation on pose-graph optimization and landmark SLAM tasks demonstrates that our adaptively reweighted certifiable estimation approach provides higher-quality estimates than alternative local search-based methods, while scaling tractably to realistic problem sizes.