相关论文: Robust Point Cloud Based Reconstruction of Large-S…

Learning-based outlier (mismatched correspondence) rejection for robust 3D registration generally formulates the outlier removal as an inlier/outlier classification problem. The core for this to be successful is to learn the discriminative…

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…

In robotic inspection of aviation parts, achieving accurate pairwise point cloud registration between scanned and model data is essential. However, noise and outliers generated in robotic scanned data can compromise registration accuracy.…

We propose a general solution to the problem of robust Bayesian inference in complex settings where outliers may be present. In practice, the automation of robust Bayesian analyses is important in the many applications involving large and…

Interpreting objects with basic geometric primitives has long been studied in computer vision. Among geometric primitives, superquadrics are well known for their ability to represent a wide range of shapes with few parameters. However, as…

As the costs of sensors and associated IT infrastructure decreases - as exemplified by the Internet of Things - increasing volumes of observational data are becoming available for use by environmental scientists. However, as the number of…

Multiresolution image fusion is a key problem for real-time satellite imaging and plays a central role in detecting and monitoring natural phenomena such as floods. It aims to solve the trade-off between temporal and spatial resolution in…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

In many machine learning tasks, a common approach for dealing with large-scale data is to build a small summary, {\em e.g.,} coreset, that can efficiently represent the original input. However, real-world datasets usually contain outliers…

Handling outliers is a fundamental challenge in multivariate data analysis because outliers may distort the structures of correlation or conditional independence. Although robust Bayesian inference has been extensively studied in univariate…

In this paper, we address the problem of how to robustly train a ConvNet for regression, or deep robust regression. Traditionally, deep regression employs the L2 loss function, known to be sensitive to outliers, i.e. samples that either lie…

We develop a mixture-based approach to robust density modeling and outlier detection for experimental multivariate data that includes measurement error information. Our model is designed to infer atypical measurements that are not due to…

Parameter estimation of mixture regression model using the expectation maximization (EM) algorithm is highly sensitive to outliers. Here we propose a fast and efficient robust mixture regression algorithm, called Component-wise Adaptive…

LiDAR scanning in outdoor scenes acquires accurate distance measurements over wide areas, producing large-scale point clouds. Application examples for this data include robotics, automotive vehicles, and land surveillance. During such…

Inference in the presence of outliers is an important field of research as outliers are ubiquitous and may arise across a variety of problems and domains. Bayesian optimization is method that heavily relies on probabilistic inference. This…

We present a novel method for reconstructing parametric, volumetric, multi-story building models from unstructured, unfiltered indoor point clouds by means of solving an integer linear optimization problem. Our approach overcomes…

Detecting the reflection symmetry plane of an object represented by a 3D point cloud is a fundamental problem in 3D computer vision and geometry processing due to its various applications, such as compression, object detection, robotic…

This paper proposes an adaptive penalized weighted mean regression for outlier detection of high-dimensional data. In comparison to existing approaches based on the mean shift model, the proposed estimators demonstrate robustness against…

The integration of semantic information in a map allows robots to understand better their environment and make high-level decisions. In the last few years, neural networks have shown enormous progress in their perception capabilities.…

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…