_projects/incrementalGraph/todo.md

[ ] Robust incremental graph optimization

  • Characterize variational inference

  • Implement Concurent filter-smooth

_projects/robustEstDev/todo.md

[ ] Derivation of Robust Estimators as Covariance Estimation

  • M-Estimators
    • [] Redescending.
    • [] Non-redescending
  • Switchable Constraints
    • [] Lifted Optimization in general.
  • All E-M based techniques

_projects/robustGNSSGraph/todo.md

Evaluation of Robust GNSS F.G. Process Techniques

  • Finish ION/IEEE Paper
    • Find bias when processing phastball data
    • Update evaluation section of paper

_projects/dirichletRobustPoseGraph/todo.md

[ ] Dirichlet Pose Graph Optimization

  • Generate GNSS Data
    • dual receivers
      • one high quality receiver with faults
      • one low quality with no faults
  • Test generic M-Estimation techniques
  • Test new graph based methods
    • [ x] Test switchable constraints
      • [x ] try between switchable constraints ( time const. )
    • [ x] Test DCS
    • [ x] Test Max Mixtures
    • [ x] Test Realizing, Reversing, Recovering
  • read Condensed Measurements paper
  • Robust Pose-graph Opt.
    • Test Switchable Constrainst on Manhattan 3500
    • Automate Residual Collection from GTSAM
    • Port GMM-DP from Python to C++
    • Test on other pose-graphs
  • Test E.M. Max-Mix Covariance Est.
    • Breakdown point
    • Confusion Matrix
  • Write E.M. D.P. Max-Mix Optimization
    • Iterate between E.M and Max-Mix to reject outliers
    • Use Neyman–Pearson lemma to weight final Cov. Est.
  • Test D.P Max-Mix on poor initial covariance graph
    • [] vary noise on pose-graph constraints
    • [] compare S.C., (unmodified) MM, and D.P. M.M
  • IAE INS filtering
    • [] Simulate INS data using PPP/INS Sim.
    • [] Write Python Filter

_projects/pollinatorBot/todo.md

[ ] Lab List

  • Time analysis of BLAM
  • Generate cost map
    • OctoMap extraction from BLAM

_projects/topologyRobustPoseGraph/todo.md

Robust Pose Graph Optimization through Topologyical Data Analysis