相关论文: Improved RANSAC performance using simple, iterativ…

A tracking algorithm based on consensus-robust estimators was implemented for the analysis of experiments with time-projection chambers. In this work, few algorithms beyond RANSAC were successfully tested using experimental data taken with…

Plane detection from depth images is a crucial subtask with broad robotic applications, often accomplished by iterative methods such as Random Sample Consensus (RANSAC). While RANSAC is a robust strategy with strong probabilistic…

We present Neural-Guided RANSAC (NG-RANSAC), an extension to the classic RANSAC algorithm from robust optimization. NG-RANSAC uses prior information to improve model hypothesis search, increasing the chance of finding outlier-free minimal…

Outliers widely occur in big-data applications and may severely affect statistical estimation and inference. In this paper, a framework of outlier-resistant estimation is introduced to robustify an arbitrarily given loss function. It has a…

Nonlinear estimation in robotics and vision is typically plagued with outliers due to wrong data association, or to incorrect detections from signal processing and machine learning methods. This paper introduces two unifying formulations…

In many applications, when building linear regression models, it is important to account for the presence of outliers, i.e., corrupted input data points. Such problems can be formulated as mixed-integer optimization problems involving cubic…

In this paper, we revisit the problem of local optimization in RANSAC. Once a so-far-the-best model has been found, we refine it via Dual Principal Component Pursuit (DPCP), a robust subspace learning method with strong theoretical support…

This paper delivers improved theoretical guarantees for the convex programming approach in low-rank matrix estimation, in the presence of (1) random noise, (2) gross sparse outliers, and (3) missing data. This problem, often dubbed as…

We present a real-time method for robust estimation of multiple instances of geometric models from noisy data. Geometric models such as vanishing points, planar homographies or fundamental matrices are essential for 3D scene analysis.…

In real world, our datasets often contain outliers. Moreover, the outliers can seriously affect the final machine learning result. Most existing algorithms for handling outliers take high time complexities (e.g. quadratic or cubic…

We present a robust estimator for fitting multiple parametric models of the same form to noisy measurements. Applications include finding multiple vanishing points in man-made scenes, fitting planes to architectural imagery, or estimating…

Many computer vision applications require robust and efficient estimation of camera geometry. The robust estimation is usually based on solving camera geometry problems from a minimal number of input data measurements, i.e. solving minimal…

We present VSAC, a RANSAC-type robust estimator with a number of novelties. It benefits from the introduction of the concept of independent inliers that improves significantly the efficacy of the dominant plane handling and, also, allows…

This paper examines the problem of locating outlier columns in a large, otherwise low-rank, matrix. We propose a simple two-step adaptive sensing and inference approach and establish theoretical guarantees for its performance; our results…

This paper deals with robust regression and subspace estimation and more precisely with the problem of minimizing a saturated loss function. In particular, we focus on computational complexity issues and show that an exact algorithm with…

Detecting the presence of anomalies in regression models is a crucial task in machine learning, as anomalies can significantly impact the accuracy and reliability of predictions. Random Sample Consensus (RANSAC) is one of the most popular…

Random Sample Consensus (RANSAC) is a fundamental approach for robustly estimating parametric models from noisy data. Existing learning-based RANSAC methods utilize deep learning to enhance the robustness of RANSAC against outliers.…

Random hypothesis sampling lies at the core of many popular robust fitting techniques such as RANSAC. In this paper, we propose a novel hypothesis sampling scheme based on incremental computation of distances between partial rankings…

In this work we introduce a comprehensive algorithmic pipeline for multiple parametric model estimation. The proposed approach analyzes the information produced by a random sampling algorithm (e.g., RANSAC) from a machine…

We consider the linear regression model with observation error in the design. In this setting, we allow the number of covariates to be much larger than the sample size. Several new estimation methods have been recently introduced for this…