相关论文: Iterative Smoothing and Outlier Detection for Unde…

Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…

Outlier detection aims to identify unusual data instances that deviate from expected patterns. The outlier detection is particularly challenging when outliers are context dependent and when they are defined by unusual combinations of…

This paper utilizes an anomaly detection algorithm to check if underwater gliders are operating normally in the unknown ocean environment. Glider pilots can be warned of the detected glider anomaly in real time, thus taking over the glider…

Tensor completion is the problem of estimating the missing values of high-order data from partially observed entries. Data corruption due to prevailing outliers poses major challenges to traditional tensor completion algorithms, which…

This paper introduces a novel and distributed method for detecting inter-map loop closure outliers in simultaneous localization and mapping (SLAM). The proposed algorithm does not rely on a good initialization and can handle more than two…

We propose a new outlier detection method for multi-dimensional data. The method detects outliers based on vector cosine similarity, using a new dataset constructed by adding a dimension with zero values to the original data. When a point…

Rotation estimation plays a fundamental role in many computer vision and robot tasks. However, efficiently estimating rotation in large inputs containing numerous outliers (i.e., mismatches) and noise is a recognized challenge. Many robust…

We present an unsupervised deep neural network approach to the fusion of RGB-D imagery with inertial measurements for absolute trajectory estimation. Our network, dubbed the Visual-Inertial-Odometry Learner (VIOLearner), learns to perform…

Outlier detection in data streams has gained wide importance presently due to the increasing cases of fraud in various applications of data streams. The techniques for outlier detection have been divided into either statistics based,…

Many complex vehicular systems, such as large marine vessels, contain confined spaces like water tanks, which are critical for the safe functioning of the vehicles. It is particularly hazardous for humans to inspect such spaces due to…

Out-of-distribution detection (OOD) deals with anomalous input to neural networks. In the past, specialized methods have been proposed to reject predictions on anomalous input. Similarly, it was shown that feature extraction models in…

Outlier detection (OD) aims to identify abnormal instances, known as outliers or anomalies, by learning typical patterns of normal data, or inliers. Performing OD under an unsupervised regime-without any information about anomalous…

Outlier-robust estimation is a fundamental problem and has been extensively investigated by statisticians and practitioners. The last few years have seen a convergence across research fields towards "algorithmic robust statistics", which…

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…

Inspection of insulators is important to ensure reliable operation of the power system. Deep learning is being increasingly exploited to automate the inspection process by leveraging object detection models to analyse aerial images captured…

Oysters are a vital keystone species in coastal ecosystems, providing significant economic, environmental, and cultural benefits. As the importance of oysters grows, so does the relevance of autonomous systems for their detection and…

Circle fitting methods are extensively utilized in various industries, particularly in quality control processes and design applications. The effectiveness of these algorithms can be significantly compromised when the point sets to be…

This paper introduces a novel approach to detect and address faulty or corrupted external sensors in the context of inertial navigation by leveraging a switching Kalman Filter combined with parameter augmentation. Instead of discarding the…

Waterline usually plays as an important visual cue for maritime applications. However, the visual complexity of inland waterline presents a significant challenge for the development of highly efficient computer vision algorithms tailored…

The unsupervised outlier detection (UOD) problem refers to a task to identify inliers given training data which contain outliers as well as inliers, without any labeled information about inliers and outliers. It has been widely recognized…