Penalizing higher terms in residual

[M Demir]

I am working on pose graph optimization problem and I have 3d pose error term function which calculates residual which is the error between two poses. I want to penalize higher error values with exponentially increasing penalty. I think, ceres uses L2 norm to calculate norm of the residual. Can I use higher norms? I am wondering what is the correct way of doing this? 

[Sameer Agarwal]

the input to the loss function is the l2 norm, you can take it to any power you like.

On Tue, Jul 25, 2017 at 1:04 PM M Demir <mahmu...@gmail.com> wrote:

I am working on pose graph optimization problem and I have 3d pose error term function which calculates residual which is the error between two poses. I want to penalize higher error values with exponentially increasing penalty. I think, ceres uses L2 norm to calculate norm of the residual. Can I use higher norms? I am wondering what is the correct way of doing this? 

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