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

Robust estimation is a crucial and still challenging task, which involves estimating model parameters in noisy environments. Although conventional sampling consensus-based algorithms sample several times to achieve robustness, these…

We consider the estimation of some parameter $\mathbf{x}$ living in a cone from the nonlinear observations of the form $\{y_i=f_i(\langle\mathbf{a}_i,\mathbf{x}\rangle)\}_{i=1}^m$. We develop a unified approach that first constructs a…

We introduce a new criterion, the Rank Selection Criterion (RSC), for selecting the optimal reduced rank estimator of the coefficient matrix in multivariate response regression models. The corresponding RSC estimator minimizes the Frobenius…

We study the robust matrix completion (RMC) problem subject to both sparse outliers and stochastic noise. A non-convex method termed Accelerated Robust Matrix Completion (ARMC) is proposed, which accelerates a prior non-convex approach by…

A new method for robust estimation, MAGSAC++, is proposed. It introduces a new model quality (scoring) function that does not require the inlier-outlier decision, and a novel marginalization procedure formulated as an iteratively…

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…

Minimization of the $L_\infty$ norm, which can be viewed as approximately solving the non-convex least median estimation problem, is a powerful method for outlier removal and hence robust regression. However, current techniques for solving…

Suppose a given observation matrix can be decomposed as the sum of a low-rank matrix and a sparse matrix (outliers), and the goal is to recover these individual components from the observed sum. Such additive decompositions have…

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…

We consider the problem of principal component analysis (PCA) in the presence of outliers. Given a matrix $A$ ($d \times n$) and parameters $k, m$, the goal is to remove a set of at most $m$ columns of $A$ (known as outliers), so as to…

We explore the connection between outlier-robust high-dimensional statistics and non-convex optimization in the presence of sparsity constraints, with a focus on the fundamental tasks of robust sparse mean estimation and robust sparse PCA.…

Standard regularization methods that are used to compute solutions to ill-posed inverse problems require knowledge of the forward model. In many real-life applications, the forward model is not known, but training data is readily available.…

The design of modern recommender systems relies on understanding which parts of the feature space are relevant for solving a given recommendation task. However, real-world data sets in this domain are often characterized by their large…

Coreset selection is powerful in reducing computational costs and accelerating data processing for deep learning algorithms. It strives to identify a small subset from large-scale data, so that training only on the subset practically…

We review the most recent RANSAC-like hypothesize-and-verify robust estimators. The best performing ones are combined to create a state-of-the-art version of the Universal Sample Consensus (USAC) algorithm. A recent objective is to…

In this paper, we study the problem of robust subspace recovery (RSR) in the presence of both strong adversarial corruptions and Gaussian noise. Specifically, given a limited number of noisy samples -- some of which are tampered by an…

Trace norm regularization is a widely used approach for learning low rank matrices. A standard optimization strategy is based on formulating the problem as one of low rank matrix factorization which, however, leads to a non-convex problem.…

Machine learning and data analysis have been used in many robotics fields, especially for modelling. Data are usually the result of sensor measurements and, as such, they might be subjected to noise and outliers. The presence of outliers…

This paper examines the problem of locating outlier columns in a large, otherwise low-rank matrix, in settings where {}{the data} are noisy, or where the overall matrix has missing elements. We propose a randomized two-step inference…

Recent work has demonstrated the effectiveness of gradient descent for directly recovering the factors of low-rank matrices from random linear measurements in a globally convergent manner when initialized properly. However, the performance…