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Many estimation problems in robotics, computer vision, and learning require estimating unknown quantities in the face of outliers.
A quaternion-based certifiably optimal solution to the Wahba problem with outliers
H. Yang and L. Carlone · 1905
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H. Yang, P. Antonante, V. Tzoumas, and L. Carlone · 1909
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In perfect shape: Certifiably optimal 3D shape reconstruction from 2D landmarks
H. Yang and L. Carlone · 1911
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Handbook of Mathematical Functions, With Formulas, Graphs, and Mathematical Tables
M. Abramowitz · 1974
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Random sample consensus: a paradigm for model fitting with application to image analysis and automated cartography
M. Fischler and R. Bolles · 1981
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Robust Statistics
P. Huber · 1981
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Least-squares fitting of two 3-D point sets
K. Arun, T. Huang, and S. Blostein · 1987
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Visual reconstruction
A. Blake and A. Zisserman · 1987
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Closed-form solution of absolute orientation using unit quaternions
B. K. P. Horn · 1987
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Attitude determination using vector observations and the singular value decomposition
F. L. Markley · 1988
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Projective invariants for vision
P. Gros and L. Quan · 1992
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Geometric invariance in computer vision
J. Mundy and A. Zisserman · 1992
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On the unification of line processes, outlier rejection, and robust statistics with applications in early vision
M. J. Black and A. Rangarajan · 1996
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Data association for mobile robot navigation: a graph theoretic approach
T. Bailey, E. M. Nebot, J. K. Rosenblatt, and H. F. Durrant-Whyte · 2000
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MLESAC: A new robust estimator with application to estimating image geometry
P. Torr and A. Zisserman · 2000
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Data association in stochastic mapping using the joint compatibility test
J. Neira and J. Tardós · 2001
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TEASER: Fast and Certifiable Point Cloud Registration
H. Yang, J. Shi, and L. Carlone · 2001
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Multiple View Geometry in Computer Vision
R. I. Hartley and A. Zisserman · 2004
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Matching with PROSAC - progressive sample consensus
O. Chum and J. Matas · 2005
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A spectral technique for correspondence problems using pairwise constraints
M. Leordeanu and M. Hebert · 2005
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PoseCut: Simultaneous segmentation and 3d pose estimation of humans using dynamic graph-cuts
M. Bray, P. Kohli, and P. Torr · 2006
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Incremental ransac for online relocation in large dynamic environments
K. Tanaka and E. Kondo · 2006
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A comparative analysis of ransac techniques leading to adaptive real-time random sample consensus
R. Raguram, J.-M. Frahm, and M. Pollefeys · 2008
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Starsac: Stable random sample consensus for parameter estimation
J. Choi and G. Medioni · 2009
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Optimal correspondences from pairwise constraints
O. Enqvist, K. Josephson, and F. Kahl · 2009
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Consensus set maximization with guaranteed global optimality for robust geometry estimation
H. Li · 2009
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Robust fitting for multiple view geometry
O. Enqvist, E. Ask, F. Kahl, and K. Åström · 2012
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Maximal cliques based rigid body motion segmentation with a rgb-d camera
S. Perera and N. Barnes · 2012
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Usac: a universal framework for random sample consensus
R. Raguram, O. Chum, M. Pollefeys, J. Matas, and J.-M. Frahm · 2012
Cited alongside, same era.
Factor graphs for robot perception
F. Dellaert and M. Kaess · 2017
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Globally optimal object pose estimation in point clouds with mixed-integer programming
G. Izatt, H. Dai, and R. Tedrake · 2017
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Parallel k-core decomposition on multicore platforms
H. Kabir and K. Madduri · 2017
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6-dof object pose from semantic keypoints
G. Pavlakos, X. Zhou, A. Chan, K. G. Derpanis, and K. Daniilidis · 2017
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3dmatch: Learning the matching of local 3d geometry in range scans
A. Zeng, S. Song, M. Nießner, M. Fisher, J. Xiao, and T. Funkhouser · 2017
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Graph-cut ransac
D. Barath and J. Matas · 2018
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Robust map optimization using dynamic covariance scaling
P. Agarwal, G. D. Tipaldi, L. Spinello, C. Stachniss, and W. Burgard · 2013
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Optimal geometric fitting under the truncated l2-norm
E. Ask, O. Enqvist, and F. Kahl · 2013
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Rotation averaging
R. Hartley, J. Trumpf, Y. Dai, and H. Li · 2013
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Selecting good measurements via ℓ 1 \mathchar 352_{\mathchar 28721} relaxation: a convex approach for robust estimation over graphs
L. Carlone, A. Censi, and F. Dellaert · 2014
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Park: An efficient algorithm for k-core decomposition on multicore processors
N. S. Dasari, R. Desh, and M. Zubair · 2014
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Efficient globally optimal consensus maximisation with tree search
T.-J. Chin, P. Purkait, A. Eriksson, and D. Suter · 2015
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Graph-cut ransac
D. Barath and J. Matas · 2018
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Robust fitting in computer vision: Easy or hard?
T.-J. Chin, Z. Cai, and F. Neumann · 2018
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Pairwise consistent measurement set maximization for robust multi-robot map merging
J. G. Mangelson, D. Dominic, R. M. Eustice, and R. Vasudevan · 2018
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Guaranteed outlier removal for point cloud registration with correspondences
Á. Parra Bustos and T. J. Chin · 2018
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Open3D: A modern library for 3D data processing
Q.-Y. Zhou, J. Park, and V. Koltun · 2018
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A general and adaptive robust loss function
J. T. Barron · 2019
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Consensus maximization tree search revisited
Z. Cai, T.-J. Chin, and V. Koltun · 2019
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Homebreweddb: Rgb-d dataset for 6d pose estimation of 3d objects
R. Kaskman, S. Zakharov, I. Shugurov, and S. Ilic · 2019
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Modeling perceptual aliasing in SLAM via discrete-continuous graphical models
P. Lajoie, S. Hu, G. Beltrame, and L. Carlone · 2019
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A practical maximum clique algorithm for matching with pairwise constraints
A. Parra Bustos, T.-J. Chin, F. Neumann, T. Friedrich, and M. Katzmann · 2019
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A polynomial-time solution for robust registration with extreme outlier rates
H. Yang and L. Carlone · 2019
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Outlier-robust estimation: Hardness, minimally-tuned algorithms, and applications
P. Antonante, V. Tzoumas, H. Yang, and L. Carlone · 2020
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Robust single rotation averaging
S. H. Lee and J. Civera · 2020
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3D dynamic scene graphs: Actionable spatial perception with places, objects, and humans
A. Rosinol, A. Gupta, M. Abate, J. Shi, and L. Carlone · 2020
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Why is maximum clique often easy in practice?
J. L. Walteros and A. Buchanan · 2020
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One ring to rule them all: Certifiably robust geometric perception with outliers
H. Yang and L. Carlone · 2020
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