Related papers: ORORA: Outlier-Robust Radar Odometry
We present a learning-based outlier-robust filter for a general setup where the measurement noise can be correlated. Since it is an enhanced version of EM-based outlier robust filter (EMORF), we call it as EMORF-II. As it is equipped with…
This paper proposes robust estimators of the variogram, a statistical tool that is commonly used in geostatistics to capture the spatial dependence structure of data. The new estimators are based on the highly robust minimum covariance…
Most multivariate outlier detection procedures ignore the spatial dependency of observations, which is present in many real data sets from various application areas. This paper introduces a new outlier detection method that accounts for a…
Vehicle odometry is an essential component of an automated driving system as it computes the vehicle's position and orientation. The odometry module has a higher demand and impact in urban areas where the global navigation satellite system…
The presence of outliers is prevalent in machine learning applications and may produce misleading results. In this paper a new method for dealing with outliers and anomal samples is proposed. To overcome the outlier issue, the proposed…
We propose an inlier-based outlier detection method capable of both identifying the outliers and explaining why they are outliers, by identifying the outlier-specific features. Specifically, we employ an inlier-based outlier detection…
Robustness to outliers is often a desirable property of statistical estimators. Indeed many well known estimators offer very good optimal performance in theory but are unusable in applied contexts because of their sensitivity to outliers.…
Robust and reliable ego-motion is a key component of most autonomous mobile systems. Many odometry estimation methods have been developed using different sensors such as cameras or LiDARs. In this work, we present a resilient approach that…
Over the past decades, a tremendous amount of work has addressed the topic of ego-motion estimation of moving platforms based on various proprioceptive and exteroceptive sensors. At the cost of ever-increasing computational load and sensor…
In order to tackle the challenge of unfavorable weather conditions such as rain and snow, radar is being revisited as a parallel sensing modality to vision and lidar. Recent works have made tremendous progress in applying spinning radar to…
A novel unsupervised outlier score, which can be embedded into graph based dimensionality reduction techniques, is presented in this work. The score uses the directed nearest neighbor graphs of those techniques. Hence, the same measure of…
This paper presents a radar odometry method that combines probabilistic trajectory estimation and deep learned features without needing groundtruth pose information. The feature network is trained unsupervised, using only the on-board radar…
This paper presents an approach to radar odometry on $SE(3)$ which utilizes a constant acceleration motion prior. The motion prior is integrated into a sliding window optimization scheme. We use the Magnus expansion to accurately integrate…
This paper presents an end-to-end radar odometry system which delivers robust, real-time pose estimates based on a learned embedding space free of sensing artefacts and distractor objects. The system deploys a fully differentiable,…
Autonomous vehicles and robots rely on accurate odometry estimation in GPS-denied environments. While LiDARs and cameras struggle under extreme weather, 4D mmWave radar emerges as a robust alternative with all-weather operability and…
State estimation is an essential component of autonomous systems, usually relying on sensor fusion that integrates data from cameras, LiDARs and IMUs. Recently, radars have shown the potential to improve the accuracy and robustness of state…
This paper proposes an approach for anomalous sound detection that incorporates outlier exposure and inlier modeling within a unified framework by multitask learning. While outlier exposure-based methods can extract features efficiently, it…
Spatial perception is the backbone of many robotics applications, and spans a broad range of research problems, including localization and mapping, point cloud alignment, and relative pose estimation from camera images. Robust spatial…
Outliers are the points which are different from or inconsistent with the rest of the data. They can be novel, new, abnormal, unusual or noisy information. Outliers are sometimes more interesting than the majority of the data. The main…
Wireless sensor networks usually comprise a large number of sensors monitoring changes in variables. These changes in variables represent changes in physical quantities. The changes can occur for various reasons; these reasons are…