[Feature]: Huber kernel based robustification of PnP pose refinement

[Astik-2002]

🚀 Feature Description

Current PnP from kornia-rs is not robust to fast jerky motion seen in Euroc Vicon room datasets. So a fix is added by adding a huber kernel in the pnp pose refinement cost function. The resulting scheme is under in kornia-slam here:
kornia/kornia-slam#54

📂 Feature Category

Rust Core Library

💡 Motivation

To robustify per frame tracking in Kornia-SLAM

💭 Proposed Solution

Adding huber kernel in the refine_pose cost function

📚 Library Reference

lightweight VIO (https://github.com/93won/lightweight_vio)

🔄 Alternatives Considered

No response

🎯 Use Cases

No response

📝 Additional Context

No response

🤝 Contribution Intent

• I plan to submit a PR to implement this feature
• I'm requesting this feature but not planning to implement it

[github-actions]

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