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Several recent works have shown that state-of-the-art classifiers are vulnerable to worst-case (i.e., adversarial) perturbations of the datapoints. On the other hand, it has been empirically observed that these same classifiers are…
We introduce the boundary measure at scale r of a compact subset of the n-dimensional Euclidean space. We show how it can be computed for point clouds and suggest these measures can be used for feature detection. The main contribution of…
Robust topological information commonly comes in the form of a set of persistence diagrams, finite measures that are in nature uneasy to affix to generic machine learning frameworks. We introduce a fast, learnt, unsupervised vectorization…
The sample covariance matrix is a cornerstone of multivariate statistics, but it is highly sensitive to outliers. These can be casewise outliers, such as cases belonging to a different population, or cellwise outliers, which are deviating…
Many algorithms in computer vision and robotics make strong assumptions about uncertainty, and rely on the validity of these assumptions to produce accurate and consistent state estimates. In practice, dynamic environments may degrade…
This paper investigates the efficiency of the K-fold cross-validation (CV) procedure and a debiased version thereof as a means of estimating the generalization risk of a learning algorithm. We work under the general assumption of uniform…
Robust estimation is primarily concerned with providing reliable parameter estimates in the presence of outliers. Numerous robust loss functions have been proposed in regression and classification, along with various computing algorithms.…
This paper investigates the robustness and optimality of the multi-kernel correntropy (MKC) on linear regression. We first derive an upper error bound for a scalar regression problem in the presence of arbitrarily large outliers and reveal…
We describe a new algorithm for computing the Voronoi diagram of a set of $n$ points in constant-dimensional Euclidean space. The running time of our algorithm is $O(f \log n \log \Delta)$ where $f$ is the output complexity of the Voronoi…
The singular value decomposition (SVD) is a crucial tool in machine learning and statistical data analysis. However, it is highly susceptible to outliers in the data matrix. Existing robust SVD algorithms often sacrifice speed for…
High-dimensional covariance estimation is notoriously sensitive to outliers. While statistically optimal estimators exist for general heavy-tailed distributions, they often rely on computationally expensive techniques like semidefinite…
We propose strongly consistent algorithms for reconstructing the characteristic function 1_K of an unknown convex body K in R^n from possibly noisy measurements of the modulus of its Fourier transform \hat{1_K}. This represents a complete…
Visual odometry (VO) is a fundamental component in robotics and augmented reality. RGB-D direct VO benefits from metric depth measurements, but it can degrade in challenging environments, where dynamic objects, occlusions, illumination…
Over the last few decades, numerous LiDAR-inertial odometry (LIO) algorithms have been developed, demonstrating satisfactory performance across diverse environments. Most of these algorithms have predominantly been validated in open outdoor…
We consider a distributionally robust stochastic optimization problem and formulate it as a stochastic two-level composition optimization problem with the use of the mean--semideviation risk measure. In this setting, we consider a single…
The coefficient of variation (CV) is commonly used to measure relative dispersion. However, since it is based on the sample mean and standard deviation, outliers can adversely affect the CV. Additionally, for skewed distributions the mean…
We develop a data-driven approach for signal denoising that utilizes variational mode decomposition (VMD) algorithm and Cramer Von Misses (CVM) statistic. In comparison with the classical empirical mode decomposition (EMD), VMD enjoys…
Remarkable progress has been made in self-supervised monocular depth estimation (SS-MDE) by exploring cross-view consistency, e.g., photometric consistency and 3D point cloud consistency. However, they are very vulnerable to illumination…
Background: Intravoxel Incoherent Motion (IVIM) model characterizes both water diffusion and perfusion in tissues, providing quantitative biomarkers valuable for tumor tissue characterization. However, parameter estimation based on this…
This paper reports on a follow-up study of the work reported in Sakai, which explored suitable evaluation measures for ordinal quantification tasks. More specifically, the present study defines and evaluates, in addition to the…