kornia/kornia-rs
[Feature]: Huber kernel based robustification of PnP pose refinement
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#1,099 opened on 2026/08/12
enhancementhelp wantedtriage
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説明
🚀 Feature Description
Current PnP from kornia-rs is not robust to fast jerky motion seen in Euroc Vicon room datasets. So a fix is added by adding a huber kernel in the pnp pose refinement cost function. The resulting scheme is under in kornia-slam here: https://github.com/kornia/kornia-slam/pull/54
📂 Feature Category
Rust Core Library
💡 Motivation
To robustify per frame tracking in Kornia-SLAM
💭 Proposed Solution
Adding huber kernel in the refine_pose cost function
📚 Library Reference
lightweight VIO (https://github.com/93won/lightweight_vio)
🔄 Alternatives Considered
No response
🎯 Use Cases
No response
📝 Additional Context
No response
🤝 Contribution Intent
- I plan to submit a PR to implement this feature
- I'm requesting this feature but not planning to implement it