相关论文: Robust Outlier Rejection for 3D Registration with …

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…

The problem of identifying the most discriminating features when performing supervised learning has been extensively investigated. In particular, several methods for variable selection in model-based classification have been proposed.…

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…

Machine learning methods often need a large amount of labeled training data. Since the training data is assumed to be the ground truth, outliers can severely degrade learned representations and performance of trained models. Here we apply…

Robustness to outliers is a central issue in real-world machine learning applications. While replacing a model to a heavy-tailed one (e.g., from Gaussian to Student-t) is a standard approach for robustification, it can only be applied to…

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…

In recent years, there have been significant improvements in various forms of image outlier detection. However, outlier detection performance under adversarial settings lags far behind that in standard settings. This is due to the lack of…

This paper presents a fast methodology, called ROBOUT, to identify outliers in a response variable conditional on a set of linearly related predictors, retrieved from a large granular dataset. ROBOUT is shown to be effective and…

Discriminative learning effectively predicts true object class for image classification. However, it often results in false positives for outliers, posing critical concerns in applications like autonomous driving and video surveillance…

Outlier feature matches and loop-closures that survived front-end data association can lead to catastrophic failures in the back-end optimization of large-scale point cloud based 3D reconstruction. To alleviate this problem, we propose a…

Deep convolutional models often produce inadequate predictions for inputs foreign to the training distribution. Consequently, the problem of detecting outlier images has recently been receiving a lot of attention. Unlike most previous work,…

Considering a common case where measurements are obtained from independent sensors, we present a novel outlier-robust filter for nonlinear dynamical systems in this work. The proposed method is devised by modifying the measurement model and…

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…

Many estimation problems in robotics, computer vision, and learning require estimating unknown quantities in the face of outliers. Outliers are typically the result of incorrect data association or feature matching, and it is common to have…

Rejecting outliers before applying classical robust methods is a common approach to increase the success rate of estimation, particularly when the outlier ratio is extremely high (e.g. 90%). However, this method often relies on sensor- or…

Removing outlier correspondences is one of the critical steps for successful feature-based point cloud registration. Despite the increasing popularity of introducing deep learning methods in this field, spatial consistency, which is…

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…

This work takes a critical look at the application of conventional machine learning methods to wireless communication problems through the lens of reliability and robustness. Deep learning techniques adopt a frequentist framework, and are…

Reliable 3D reconstruction from in-the-wild image collections is often hindered by "noisy" images-irrelevant inputs with little or no view overlap with others. While traditional Structure-from-Motion pipelines handle such cases through…

Deep neural networks have been successful in diverse discriminative classification tasks, although, they are poorly calibrated often assigning high probability to misclassified predictions. Potential consequences could lead to…