slam Bundle Adjustment误差累加时的鲁棒核函数

研究svo代码时发现其在优化相机位姿时，在对重投影误差的累加时使用了 Tukey's biweight核函数，现将维基百科的相关解释复制如下，有空再来总结。

Redescending M-estimator

Redescending M-estimator是定义一种函数ψ，改函数在原点附近为非减函数，即严格递增，远离原点后逐渐变为0.ψ函数的一个重要特性就是在|x| > r时，ψ(x) = 0。该特性可在统计中，将远离均值或中值的数据淘汰，因为这些点往往都是错误的点。
In statistics, Redescending M-estimators are Ψ-type M-estimators which have ψ functions that are non-decreasing near the origin, but decreasing toward 0 far from the origin. Their ψ functions can be chosen to redescend smoothly to zero, so that they usually satisfy ψ(x) = 0 for all x with |x| > r, where r is referred to as the minimum rejection point.

Due to these properties of the ψ function, these kinds of estimators are very efficient, have a high breakdown point and, unlike other outlier rejection techniques, they do not suffer from a masking effect. They are efficient because they completely reject gross outliers, and do not completely ignore moderately large outliers (like median).

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