Gram-matrix overlap turns inlier identification into a structured recovery problem, enabling exact recovery with as few as order sqrt(n) inliers when dimension matches sample size.
Simultaneous localization and mapping: Part i.IEEE Robotics & Automation Magazine, 13(2):99–110
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Inlier Recovery for Robust Registration via Gram-Matrix Overlap
Gram-matrix overlap turns inlier identification into a structured recovery problem, enabling exact recovery with as few as order sqrt(n) inliers when dimension matches sample size.