CLIPPER: A Graph-Theoretic Framework for Robust Data Association
Channel: Kaveh Fathian
Date: 2022-12-10

CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rectification) is an algorithmic framework for robust data association. It formulates the problem of data association in a graph-theoretic formulation (as finding the maximal cliques), and identifies the subset of associations that are geometrically consistent. These consistent associations are identified quickly , enabling robust data association in high outlier regimes (e.g.,  more than 95%) in milliseconds.

Code: https://mit-acl.github.io/clipper
Paper: https://arxiv.org/pdf/2011.10202.pdf