相关论文: Robust Single Rotation Averaging Revisited

Robust optimization (RO) is one of the key paradigms for solving optimization problems affected by uncertainty. Two principal approaches for RO, the robust counterpart method and the adversarial approach, potentially lead to excessively…

We construct an algorithm, running in time $\tilde{\mathcal O}(N d + uK d)$, which is robust to outliers and heavy-tailed data and which achieves the subgaussian rate from [Lugosi, Mendelson] \begin{equation}\label{eq:intro_subgaus_rate}…

Outlier rejection and equivalently inlier set optimization is a key ingredient in numerous applications in computer vision such as filtering point-matches in camera pose estimation or plane and normal estimation in point clouds. Several…

This paper presents a novel indoor positioning approach that leverages antenna radiation pattern characteristics through Received Signal Strength Indication (RSSI) measurements in a single-antenna system. By rotating the antenna or…

Notwithstanding the popularity of conventional clustering algorithms such as K-means and probabilistic clustering, their clustering results are sensitive to the presence of outliers in the data. Even a few outliers can compromise the…

Ensemble techniques are powerful approaches that combine several weak learners to build a stronger one. As a meta-learning framework, ensemble techniques can easily be applied to many machine learning methods. Inspired by ensemble…

Recent progress on robust clustering led to constant-factor approximations for Robust Matroid Center. After a first combinatorial $7$-approximation that is based on a matroid intersection approach, two tight LP-based $3$-approximations were…

The quest for an algorithm that solves an $n\times n$ linear system in $O(n^2)$ time complexity, or $O(n^2 \text{poly}(1/\epsilon))$ when solving up to $\epsilon$ relative error, is a long-standing open problem in numerical linear algebra…

Orientation learning plays a pivotal role in many tasks. However, the rotation group SO(3) is a Riemannian manifold. As a result, the distortion caused by non-Euclidean geometric nature introduces difficulties to the incorporation of local…

We give an efficient algorithm for robustly clustering of a mixture of two arbitrary Gaussians, a central open problem in the theory of computationally efficient robust estimation, assuming only that the the means of the component Gaussians…

We present a new iterative rotation inversion technique based on the Simultaneous Algebraic Reconstruction Technique developed for image reconstruction. We describe in detail our algorithmic implementation and compare it to the classical…

The autocovariance least squares (ALS) method is a computationally efficient approach for estimating noise covariances in Kalman filters without requiring specific noise models. However, conventional ALS and its variants rely on the classic…

In this paper, an outlier elimination algorithm for ellipse/ellipsoid fitting is proposed. This two-stage algorithm employs a proximity-based outlier detection algorithm (using the graph Laplacian), followed by a model-based outlier…

We consider stochastic variational inequality problems where the mapping is monotone over a compact convex set. We present two robust variants of stochastic extragradient algorithms for solving such problems. Of these, the first scheme…

The problem of robust mean estimation in high dimensions is studied, in which a certain fraction (less than half) of the datapoints can be arbitrarily corrupted. Motivated by compressive sensing, the robust mean estimation problem is…

We propose a minimum distance estimation method for robust regression in sparse high-dimensional settings. The traditional likelihood-based estimators lack resilience against outliers, a critical issue when dealing with high-dimensional…

Dynamic traversal of uneven terrain is a major objective in the field of legged robotics. The most recent model predictive control approaches for these systems can generate robust dynamic motion of short duration; however, planning over a…

Being robust to the presence of outliers is crucial for applying clustering algorithms in practice. In the $\textit{robust $k$-Means}$ problem (i.e., $k$-Means with outliers), the goal is to remove $z$ outliers and minimize the $k$-Means…

We present an efficient algorithm for computing the closest singular configuration to each non-singular pose of a 3-RPR planar manipulator performing a 1-parametric motion. By considering a 3-RPR manipulator as a planar framework, one can…

We propose an unsupervised approach for learning end-to-end reconstruction operators for ill-posed inverse problems. The proposed method combines the classical variational framework with iterative unrolling, which essentially seeks to…