# Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection

> Research article (IEEE Robotics and Automation Letters, 2020) · cited 304× · AI/ML

**Wikidata**: [openalex:W2973258311](https://www.wikidata.org/wiki/openalex:W2973258311)  
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