相关论文: Outlier-Robust Geometric Perception: A Novel Thres…

Establishing the correspondence between two images is an important research direction of computer vision. When estimating the relationship between two images, it is often disturbed by outliers. In this paper, we propose a convolutional…

Correspondence-based point cloud registration is a cornerstone in robotics perception and computer vision, which seeks to estimate the best rigid transformation aligning two point clouds from the putative correspondences. However, due to…

The two main topics of this paper are the introduction of the "optimally tuned improper maximum likelihood estimator" (OTRIMLE) for robust clustering based on the multivariate Gaussian model for clusters, and a comprehensive simulation…

We provide a new computationally-efficient class of estimators for risk minimization. We show that these estimators are robust for general statistical models: in the classical Huber epsilon-contamination model and in heavy-tailed settings.…

Outliers are ubiquitous in modern data sets. Distance-based techniques are a popular non-parametric approach to outlier detection as they require no prior assumptions on the data generating distribution and are simple to implement. Scaling…

Despite the remarkable advancements in deep learning-based perception technologies and simultaneous localization and mapping (SLAM), one can face the failure of these approaches when robots encounter scenarios outside their modeled…

This paper considers the problem of recovering signals modeled by generative models from linear measurements contaminated with sparse outliers. We propose an outlier detection approach for reconstructing the ground-truth signals modeled by…

The presence of outliers (anomalous values) in synthetic aperture radar (SAR) data and the misspecification in statistical image models may result in inaccurate inferences. To avoid such issues, the Rayleigh regression model based on a…

High-dimensional data poses unique challenges in outlier detection process. Most of the existing algorithms fail to properly address the issues stemming from a large number of features. In particular, outlier detection algorithms perform…

The existing approaches to intrinsic dimension estimation usually are not reliable when the data are nonlinearly embedded in the high dimensional space. In this work, we show that the explicit accounting to geometric properties of unknown…

We introduce a trimmed version of the Hill estimator for the index of a heavy-tailed distribution, which is robust to perturbations in the extreme order statistics. In the ideal Pareto setting, the estimator is essentially finite-sample…

Fitting an unknown number of hyperplanes to data is a fundamental yet challenging problem in machine learning, characterized by its non-convexity, non-differentiability, and unknown model order. Existing approaches often struggle with local…

Outlier detection refers to the identification of anomalous samples that deviate significantly from the distribution of normal data and has been extensively studied and used in a variety of practical tasks. However, most unsupervised…

The sample covariance matrix is a cornerstone of multivariate statistics, but it is highly sensitive to outliers. These can be casewise outliers, such as cases belonging to a different population, or cellwise outliers, which are deviating…

Pearson's chi-squared test can detect outliers in the data distribution of a given set of histograms. However, in fields such as demographics (for e.g. birth years), outliers may be more easily found in terms of the histogram smoothness…

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…

Machine learning models traditionally assume that training and test data are independently and identically distributed. However, in real-world applications, the test distribution often differs from training. This problem, known as…

The accuracy of machine learning interatomic potentials suffers from reference data that contains numerical noise. Often originating from unconverged or inconsistent electronic-structure calculations, this noise is challenging to identify.…

The traditional homography estimation pipeline consists of four main steps: feature detection, feature matching, outlier removal and transformation estimation. Recent deep learning models intend to address the homography estimation problem…

Unsupervised point cloud registration algorithm usually suffers from the unsatisfied registration precision in the partially overlapping problem due to the lack of effective inlier evaluation. In this paper, we propose a neighborhood…