human: Given a node-centered hypergraph: <hypergraph>, where nodes represent papers and hyperedges represent sets of papers co-cited by a source paper.

Details of the hypergraph:
Center node: "convex relaxations for pose graph optimization with outliers"
  Abstract: Pose Graph Optimization involves the estimation of a set of poses from pairwise measurements and provides a formalization for many problems arising in mobile robotics and geometric computer vision. In this paper, we consider the case in which a subset of the measurements fed to pose graph optimization is spurious. Our first contribution is to develop robust estimators that can cope with heavy-tailed measurement noise, hence increasing robustness to the presence of outliers. Since the resulting estimators require solving nonconvex optimization problems, we further develop convex relaxations that approximately solve those problems via semidefinite programming. We then provide conditions under which the proposed relaxations are exact. Contrarily to existing approaches, our convex relaxations do not rely on the availability of an initial guess for the unknown poses, hence they are more suitable for setups in which such guess is not available (e.g., multi-robot localization, recovery after localization failure). We tested the proposed techniques in extensive simulations, and we show that some of the proposed relaxations are indeed tight (i.e., they solve the original nonconvex problem 10 exactly) and ensure accurate estimation in the face of a large number of outliers.

Connected through hyperedge HE-1 (induced by source paper "convex optimisation for inverse kinematics"):
  with members:
    - "reticam real time human performance capture from monocular video"
    - "rotation averaging and strong duality"
    - "ganerated hands for real time 3d hand tracking from monocular rgb"
    - "vnect real time 3d human pose estimation with a single rgb camera"
    - "real time hand tracking under occlusion from an egocentric rgb d sensor"
    - "non iterative rigid 2d 3d point set registration using semidefinite programming"
    - "near optimal joint object matching via convex relaxation"
    - "real time hand tracking using a sum of anisotropic gaussians model"

Connected through hyperedge HE-2 (induced by source paper "graduated non convexity for robust spatial perception from non minimal solvers to global outlier rejection"):
  with members:
    - "a polynomial time solution for robust registration with extreme outlier rates"
    - "cvxpnpl a unified convex solution to the absolute pose estimation problem from point and line correspondences"
    - "accelerated inference in markov random fields via smooth riemannian optimization"
    - "modeling perceptual aliasing in slam via discrete continuous graphical models"
    - "guaranteed outlier removal for point cloud registration with correspondences"
    - "robust fitting in computer vision easy or hard"
    - "rotation averaging and strong duality"
    - "sparse representation for 3d shape estimation a convex relaxation approach"

Connected through hyperedge HE-3 (induced by source paper "door slam distributed online and outlier resilient slam for robotic teams"):
  with members:
    - "active rendezvous for multi robot pose graph optimization using sensing over wi fi"
    - "a resource aware approach to collaborative loop closure detection with provable performance guarantees"
    - "near optimal budgeted data exchange for distributed loop closure detection"
    - "modeling perceptual aliasing in slam via discrete continuous graphical models"
    - "talk resource efficiently to me optimal communication planning for distributed loop closure detection"
    - "data efficient decentralized visual slam"
    - "distributed mapping with privacy and communication constraints lightweight algorithms and object based models"
    - "netvlad cnn architecture for weakly supervised place recognition"

Connected through hyperedge HE-4 (induced by source paper "probabilistic data association via mixture models for robust semantic slam"):
  with members:
    - "long duration fully autonomous operation of rotorcraft unmanned aerial systems for remote sensing data acquisition"
    - "modeling perceptual aliasing in slam via discrete continuous graphical models"
    - "cubeslam monocular 3d object detection and slam without prior models"
    - "mobilenets efficient convolutional neural networks for mobile vision applications"
    - "slam with objects using a nonparametric pose graph"
    - "lift learned invariant feature transform"
    - "ssd single shot multibox detector"
    - "speed accuracy trade offs for modern convolutional object detectors"

Connected through hyperedge HE-5 (induced by source paper "active rendezvous for multi robot pose graph optimization using sensing over wi fi"):
  with members:
    - "distributed mapping with privacy and communication constraints lightweight algorithms and object based models"
    - "past present and future of simultaneous localization and mapping toward the robust perception age"

Connected through hyperedge HE-6 (induced by source paper "bayesian pose graph optimization via bingham distributions and tempered geodesic mcmc"):
  with members:
    - "local optimality and generalization guarantees for the langevin algorithm via empirical metastability"
    - "rotation averaging and strong duality"
    - "non convex learning via stochastic gradient langevin dynamics a nonasymptotic analysis"
    - "a hitting time analysis of stochastic gradient langevin dynamics"
    - "cad priors for accurate and flexible instance reconstruction"
    - "camera pose filtering with local regression geodesics on the riemannian manifold of dual quaternions"
    - "a certifiably correct algorithm for synchronization over the special euclidean group"
    - "spectral synchronization of multiple views in se 3"

Connected through hyperedge HE-7 (induced by source paper "modeling perceptual aliasing in slam via discrete continuous graphical models"):
  with members:
    - "robust rotation synchronization via low rank and sparse matrix decomposition"
    - "lagrangian duality in 3d slam verification techniques and optimal solutions"
    - "a comparative study of modern inference techniques for structured discrete energy minimization problems"
    - "exact and stable recovery of rotations for robust synchronization"

Question: Please tell me which class the center node belongs to. The 40 classes are: cs.NA(Numerical Analysis), cs.MM(Multimedia), cs.LO(Logic in Computer Science), cs.CY(Computers and Society), cs.CR(Cryptography and Security), cs.DC(Distributed, Parallel, and Cluster Computing), cs.HC(Human-Computer Interaction), cs.CE(Computational Engineering, Finance, and Science), cs.NI(Networking and Internet Architecture), cs.CC(Computational Complexity), cs.AI(Artificial Intelligence), cs.MA(Multiagent Systems), cs.GL(General Literature), cs.NE(Neural and Evolutionary Computing), cs.SC(Symbolic Computation), cs.AR(Hardware Architecture), cs.CV(Computer Vision and Pattern Recognition), cs.GR(Graphics), cs.ET(Emerging Technologies), cs.SY(Systems and Control), cs.CG(Computational Geometry), cs.OH(Other Computer Science), cs.PL(Programming Languages), cs.SE(Software Engineering), cs.LG(Machine Learning), cs.SD(Sound), cs.SI(Social and Information Networks), cs.RO(Robotics), cs.IT(Information Theory), cs.PF(Performance), cs.CL(Computation and Language), cs.IR(Information Retrieval), cs.MS(Mathematical Software), cs.FL(Formal Languages and Automata Theory), cs.DS(Data Structures and Algorithms), cs.OS(Operating Systems), cs.GT(Computer Science and Game Theory), cs.DB(Databases), cs.DL(Digital Libraries), cs.DM(Discrete Mathematics). Directly output the class name.

gpt: cs.RO(Robotics)