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

Existing studies on identifying outliers in wind speed-power datasets are often challenged by the complicated and irregular distributions of outliers, especially those being densely stacked yet staying close to normal data. This could…

In this paper we propose a (non-linear) smoothing algorithm for group-affine observation systems, a recently introduced class of estimation problems on Lie groups that bear a particular structure. As most non-linear smoothing methods, the…

Recently, the progress in the radar sensing technology consisting in the miniaturization of the packages and increase in measuring precision has drawn the interest of the robotics research community. Indeed, a crucial task enabling autonomy…

This work develops user-friendly a posteriori error estimates of finite element methods, based on smoothers of linear iterative solvers. The proposed method employs simple smoothers, such as Jacobi or Gauss-Seidel iteration, on an auxiliary…

In this work, we aim to segment and detect water in videos. Water detection is beneficial for appllications such as video search, outdoor surveillance, and systems such as unmanned ground vehicles and unmanned aerial vehicles. The specific…

In this paper, a LiDAR-inertial odometry (LIO) method that eliminates the influence of moving objects in dynamic driving scenarios is proposed. This method constructs binarized labels for 3D points of current sweep, and utilizes the label…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

Distance-based outlier detection is widely adopted in many fields, e.g., data mining and machine learning, because it is unsupervised, can be employed in a generic metric space, and does not have any assumptions of data distributions. Data…

Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…

We propose a method to detect outliers in empirically observed trajectories on a discrete or discretized manifold modeled by a simplicial complex. Our approach is similar to spectral embeddings such as diffusion-maps and Laplacian…

This paper considers the problem of outlier detection in functional data analysis focusing particularly on the more difficult case of shape outliers. We present an inductive conformal anomaly detection method based on elastic functional…

Typical Bayesian approaches to OOD detection use epistemic uncertainty. Surprisingly from the Bayesian perspective, there are a number of methods that successfully use aleatoric uncertainty to detect OOD points (e.g. Hendryks et al. 2018).…

We propose a general approach to handle data contaminations that might disrupt the performance of feature selection and estimation procedures for high-dimensional linear models. Specifically, we consider the co-occurrence of mean-shift and…

We study high-dimensional sparse estimation tasks in a robust setting where a constant fraction of the dataset is adversarially corrupted. Specifically, we focus on the fundamental problems of robust sparse mean estimation and robust sparse…

This work addresses the outlier removal problem in large-scale global structure-from-motion. In such applications, global outlier removal is very useful to mitigate the deterioration caused by mismatches in the feature point matching step.…

Detecting a small number of outliers from a set of data observations is always challenging. This problem is more difficult in the setting of multiple network samples, where computing the anomalous degree of a network sample is generally not…

Obstacle detection by semantic segmentation shows a great promise for autonomous navigation in unmanned surface vehicles (USV). However, existing methods suffer from poor estimation of the water edge in the presence of visual ambiguities,…

Robust and accurate six degree-of-freedom tracking on portable devices remains a challenging problem, especially on small hand-held devices such as smartphones. For improved robustness and accuracy, complementary movement information from…

Successful detection of Out-of-Distribution (OoD) data is becoming increasingly important to ensure safe deployment of neural networks. One of the main challenges in OoD detection is that neural networks output overconfident predictions on…

Aggressive motions from agile flights or traversing irregular terrain induce motion distortion in LiDAR scans that can degrade state estimation and mapping. Some methods exist to mitigate this effect, but they are still too simplistic or…