Evaluation of heterogeneous measurement outlier rejection schemes for robotic planetary surface mapping

► Experimental characterization of heterogeneous measurement outlier rejection schemes. ► Formulation of a batch classification criterion that retains measurement independence. ► Development of robust components compatible with existing surface mapping frameworks. ► First algorithm that is able to handle odometry outliers in the SLAM scenario. ► Experimental results demonstrate significant improvement over the state-of-the-art.