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Estimation Contracts For Outlier Robust Geometric Perception
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Book Synopsis Estimation Contracts for Outlier-Robust Geometric Perception by : Luca Carlone
Download or read book Estimation Contracts for Outlier-Robust Geometric Perception written by Luca Carlone and published by . This book was released on 2023 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Geometric perception is the problem of estimating unknown geometric models such as poses, rotations, and 3D structure from sensor data, such as camera images, lidar scans, inertial data, and wheel odometry. Geometric perception has been at the center stage of robotics and computer vision research since their inception.Outlier-robust estimation is a fundamental problem and has been extensively investigated by statisticians and practitioners. The last few years have seen a convergence across research fields towards "algorithmic robust statistics", which focuses on developing tractable outlier-robust techniques for high-dimensional estimation problems. Despite this convergence, research efforts across fields have been mostly disconnected from one another.This monograph bridges recent work on certifiable outlier-robust estimation for geometric perception in robotics and computer vision with parallel work in robust statistics. In particular, recent results on robust linear regression and list-decodable regression are adapted and extended to the setup commonly found in robotics and vision, where (i) variables belong to a non-convex domain, (ii) measurements are vector-valued, and (iii) the number of outliers is not known a priori. The emphasis here is on performance guarantees: rather than proposing radically new algorithms, conditions are provided on the input measurements under which modern estimation algorithms are guaranteed to recover an estimate close to the ground truth in the presence of outliers. These conditions are what we call an "estimation contract".The monograph also provides numerical experiments to shed light on the applicability of the theoretical results and to showcase the potential of list-decodable regression algorithms in geometric perception. Besides the proposed extensions of existing results, the main contributions of this monograph are (i) to unify parallel research lines by pointing out commonalities and differences, (ii) to introduce advanced material (e.g., sum-of-squares proofs) in an accessible and self-contained presentation for the practitioner, and (iii) to point out a few immediate opportunities and open questions in outlier-robust geometric perception.
Book Synopsis Certifiable Outlier-robust Geometric Perception by : Heng Yang
Download or read book Certifiable Outlier-robust Geometric Perception written by Heng Yang and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Geometric perception is the task of estimating geometric models (e.g., object pose and 3D structure) from sensor measurements (e.g., LiDAR scans, neural network detections) and priors (e.g., object 3D models). Geometric perception is a fundamental building block for robotics applications ranging from intelligent transportation to space autonomy. The ubiquitous existence of outliers -- measurements that tell no or little information about the models to be estimated -- makes it theoretically intractable to perform estimation with guaranteed optimality. Despite this theoretical intractability, safety-critical robotics applications still demand trustworthiness and performance guarantees on perception algorithms. In this thesis, I present certifiable outlier-robust geometric perception, a new paradigm to design tractable geometric estimation algorithms that enjoy rigorous performance guarantees, i.e., they return an optimal estimate with a certificate of optimality for a majority of problem instances, but declare failure and provide a measure of suboptimality for worst-case instances. Particularly, I present two general-purpose algorithms in this paradigm: (i) an estimator that uses graph theory to prune gross outliers and leverages graduated non-convexity to compute the optimal model estimate with high probability of success, and (ii) a certifier that employs sparse semidefinite programming (SDP) relaxation and a novel SDP solver to endow the estimator with an optimality certificate or escape local minima otherwise. The estimator is fast and robust against up to 60% - 99% random outliers in practical perception applications, and the certifier can compute high-accuracy optimality certificates for large-scale problems beyond the reach of existing SDP solvers. I showcase certifiable outlier-robust perception on robotics applications such as scan matching, satellite pose estimation, and vehicle pose and shape estimation. In addition, this thesis shows that outlier-robust geometric estimation enables self-supervised geometric perception, the first general framework to learn a feature descriptor for correspondence matching without any ground-truth geometric models.
Book Synopsis Graph-Theoretic Outlier Rejection: From Instance to Category-Level Perception by : Jingnan Shi
Download or read book Graph-Theoretic Outlier Rejection: From Instance to Category-Level Perception written by Jingnan Shi and published by . This book was released on 2021 with total page 111 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this thesis, we study the problem of outlier pruning for robust estimation. Robust estimation is the workhorse for many perception problems, from object pose estimation to robot localization and mapping. In these problems, the robot has to estimate quantities of interest in the face of outliers. Such outliers can be the result of incorrect data association, and it is not unusual to have problems where more than 90% of the input measurements are outliers.
Book Synopsis Robust Estimation and Detection with a Differential Geometric Approach by : Hyeon-Cheol Lee
Download or read book Robust Estimation and Detection with a Differential Geometric Approach written by Hyeon-Cheol Lee and published by . This book was released on 2001 with total page 472 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis Outlier Ensembles by : Charu C. Aggarwal
Download or read book Outlier Ensembles written by Charu C. Aggarwal and published by Springer. This book was released on 2017-04-06 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book discusses a variety of methods for outlier ensembles and organizes them by the specific principles with which accuracy improvements are achieved. In addition, it covers the techniques with which such methods can be made more effective. A formal classification of these methods is provided, and the circumstances in which they work well are examined. The authors cover how outlier ensembles relate (both theoretically and practically) to the ensemble techniques used commonly for other data mining problems like classification. The similarities and (subtle) differences in the ensemble techniques for the classification and outlier detection problems are explored. These subtle differences do impact the design of ensemble algorithms for the latter problem. This book can be used for courses in data mining and related curricula. Many illustrative examples and exercises are provided in order to facilitate classroom teaching. A familiarity is assumed to the outlier detection problem and also to generic problem of ensemble analysis in classification. This is because many of the ensemble methods discussed in this book are adaptations from their counterparts in the classification domain. Some techniques explained in this book, such as wagging, randomized feature weighting, and geometric subsampling, provide new insights that are not available elsewhere. Also included is an analysis of the performance of various types of base detectors and their relative effectiveness. The book is valuable for researchers and practitioners for leveraging ensemble methods into optimal algorithmic design.
Book Synopsis Directions in Robust Statistics and Diagnostics by : Werner Stahel
Download or read book Directions in Robust Statistics and Diagnostics written by Werner Stahel and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 384 pages. Available in PDF, EPUB and Kindle. Book excerpt: This IMA Volume in Mathematics and its Applications DIRECTIONS IN ROBUST STATISTICS AND DIAGNOSTICS is based on the proceedings of the first four weeks of the six week IMA 1989 summer program "Robustness, Diagnostics, Computing and Graphics in Statistics". An important objective of the organizers was to draw a broad set of statisticians working in robustness or diagnostics into collaboration on the challenging problems in these areas, particularly on the interface between them. We thank the organizers of the robustness and diagnostics program Noel Cressie, Thomas P. Hettmansperger, Peter J. Huber, R. Douglas Martin, and especially Werner Stahel and Sanford Weisberg who edited the proceedings. A vner Friedman Willard Miller, Jr. PREFACE Central themes of all statistics are estimation, prediction, and making decisions under uncertainty. A standard approach to these goals is through parametric mod elling. Parametric models can give a problem sufficient structure to allow standard, well understood paradigms to be applied to make the required inferences. If, how ever, the parametric model is not completely correct, then the standard inferential methods may not give reasonable answers. In the last quarter century, particularly with the advent of readily available computing, more attention has been paid to the problem of inference when the parametric model used is not correctly specified.
Book Synopsis Vision Algorithms: Theory and Practice by : Bill Triggs
Download or read book Vision Algorithms: Theory and Practice written by Bill Triggs and published by Springer Science & Business Media. This book was released on 2000-09-06 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book constitutes the thoroughly refereed post-workshop proceedings of the International Workshop on Vision Algorithms held in Corfu, Greece in September 1999 in conjunction with ICCV'99. The 15 revised full papers presented were carefully reviewed and selected from 65 submissions; each paper is complemented by a brief transcription of the discussion that followed its presentation. Also included are two invited contributions and two expert reviews as well as a panel discussion. The volume spans the whole range of algorithms for geometric vision. The authors and volume editors succeeded in providing added value beyond a mere collection of papers and made the volume a state-of-the-art survey of their field.
Book Synopsis Applied Corporate Finance by : Aswath Damodaran
Download or read book Applied Corporate Finance written by Aswath Damodaran and published by John Wiley & Sons. This book was released on 2014-10-27 with total page 663 pages. Available in PDF, EPUB and Kindle. Book excerpt: Aswath Damodaran, distinguished author, Professor of Finance, and David Margolis, Teaching Fellow at the NYU Stern School of Business, has delivered the newest edition of Applied Corporate Finance. This readable text provides the practical advice students and practitioners need rather than a sole concentration on debate theory, assumptions, or models. Like no other text of its kind, Applied Corporate Finance, 4th Edition applies corporate finance to real companies. It now contains six real-world core companies to study and follow. Business decisions are classified for students into three groups: investment, financing, and dividend decisions.
Book Synopsis Introduction to Algorithms, third edition by : Thomas H. Cormen
Download or read book Introduction to Algorithms, third edition written by Thomas H. Cormen and published by MIT Press. This book was released on 2009-07-31 with total page 1313 pages. Available in PDF, EPUB and Kindle. Book excerpt: The latest edition of the essential text and professional reference, with substantial new material on such topics as vEB trees, multithreaded algorithms, dynamic programming, and edge-based flow. Some books on algorithms are rigorous but incomplete; others cover masses of material but lack rigor. Introduction to Algorithms uniquely combines rigor and comprehensiveness. The book covers a broad range of algorithms in depth, yet makes their design and analysis accessible to all levels of readers. Each chapter is relatively self-contained and can be used as a unit of study. The algorithms are described in English and in a pseudocode designed to be readable by anyone who has done a little programming. The explanations have been kept elementary without sacrificing depth of coverage or mathematical rigor. The first edition became a widely used text in universities worldwide as well as the standard reference for professionals. The second edition featured new chapters on the role of algorithms, probabilistic analysis and randomized algorithms, and linear programming. The third edition has been revised and updated throughout. It includes two completely new chapters, on van Emde Boas trees and multithreaded algorithms, substantial additions to the chapter on recurrence (now called “Divide-and-Conquer”), and an appendix on matrices. It features improved treatment of dynamic programming and greedy algorithms and a new notion of edge-based flow in the material on flow networks. Many exercises and problems have been added for this edition. The international paperback edition is no longer available; the hardcover is available worldwide.
Book Synopsis World Development Report 2019 by : World Bank
Download or read book World Development Report 2019 written by World Bank and published by World Bank Publications. This book was released on 2018-10-31 with total page 201 pages. Available in PDF, EPUB and Kindle. Book excerpt: Work is constantly reshaped by technological progress. New ways of production are adopted, markets expand, and societies evolve. But some changes provoke more attention than others, in part due to the vast uncertainty involved in making predictions about the future. The 2019 World Development Report will study how the nature of work is changing as a result of advances in technology today. Technological progress disrupts existing systems. A new social contract is needed to smooth the transition and guard against rising inequality. Significant investments in human capital throughout a person’s lifecycle are vital to this effort. If workers are to stay competitive against machines they need to train or retool existing skills. A social protection system that includes a minimum basic level of protection for workers and citizens can complement new forms of employment. Improved private sector policies to encourage startup activity and competition can help countries compete in the digital age. Governments also need to ensure that firms pay their fair share of taxes, in part to fund this new social contract. The 2019 World Development Report presents an analysis of these issues based upon the available evidence.
Book Synopsis Programs TRAMO Ans SEATS by : Víctor Gómez
Download or read book Programs TRAMO Ans SEATS written by Víctor Gómez and published by . This book was released on 1996 with total page 124 pages. Available in PDF, EPUB and Kindle. Book excerpt:
Book Synopsis The Data Science Design Manual by : Steven S. Skiena
Download or read book The Data Science Design Manual written by Steven S. Skiena and published by Springer. This book was released on 2017-07-01 with total page 456 pages. Available in PDF, EPUB and Kindle. Book excerpt: This engaging and clearly written textbook/reference provides a must-have introduction to the rapidly emerging interdisciplinary field of data science. It focuses on the principles fundamental to becoming a good data scientist and the key skills needed to build systems for collecting, analyzing, and interpreting data. The Data Science Design Manual is a source of practical insights that highlights what really matters in analyzing data, and provides an intuitive understanding of how these core concepts can be used. The book does not emphasize any particular programming language or suite of data-analysis tools, focusing instead on high-level discussion of important design principles. This easy-to-read text ideally serves the needs of undergraduate and early graduate students embarking on an “Introduction to Data Science” course. It reveals how this discipline sits at the intersection of statistics, computer science, and machine learning, with a distinct heft and character of its own. Practitioners in these and related fields will find this book perfect for self-study as well. Additional learning tools: Contains “War Stories,” offering perspectives on how data science applies in the real world Includes “Homework Problems,” providing a wide range of exercises and projects for self-study Provides a complete set of lecture slides and online video lectures at www.data-manual.com Provides “Take-Home Lessons,” emphasizing the big-picture concepts to learn from each chapter Recommends exciting “Kaggle Challenges” from the online platform Kaggle Highlights “False Starts,” revealing the subtle reasons why certain approaches fail Offers examples taken from the data science television show “The Quant Shop” (www.quant-shop.com)
Book Synopsis Mathematics Assessment and Evaluation by : Thomas A. Romberg
Download or read book Mathematics Assessment and Evaluation written by Thomas A. Romberg and published by SUNY Press. This book was released on 1992-01-01 with total page 380 pages. Available in PDF, EPUB and Kindle. Book excerpt: Are current testing practices consistent with the goals of the reform movement in school mathematics? If not, what are the alternatives? How can authentic performance in mathematics be assessed? These and similar questions about tests and their uses have forced those advocating change to examine the way in which mathematical performance data is gathered and used in American schools. This book provides recent views on the issues surrounding mathematics tests, such as the need for valid performance data, the implications of the Curriculum and Evaluation Standards for School Mathematics for test development, the identification of valid items and tests in terms of the Standards, the procedures now being used to construct a sample of state assessment tests, gender differences in test taking, and methods of reporting student achievement.
Book Synopsis Optimization Algorithms on Matrix Manifolds by : P.-A. Absil
Download or read book Optimization Algorithms on Matrix Manifolds written by P.-A. Absil and published by Princeton University Press. This book was released on 2009-04-11 with total page 240 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many problems in the sciences and engineering can be rephrased as optimization problems on matrix search spaces endowed with a so-called manifold structure. This book shows how to exploit the special structure of such problems to develop efficient numerical algorithms. It places careful emphasis on both the numerical formulation of the algorithm and its differential geometric abstraction--illustrating how good algorithms draw equally from the insights of differential geometry, optimization, and numerical analysis. Two more theoretical chapters provide readers with the background in differential geometry necessary to algorithmic development. In the other chapters, several well-known optimization methods such as steepest descent and conjugate gradients are generalized to abstract manifolds. The book provides a generic development of each of these methods, building upon the material of the geometric chapters. It then guides readers through the calculations that turn these geometrically formulated methods into concrete numerical algorithms. The state-of-the-art algorithms given as examples are competitive with the best existing algorithms for a selection of eigenspace problems in numerical linear algebra. Optimization Algorithms on Matrix Manifolds offers techniques with broad applications in linear algebra, signal processing, data mining, computer vision, and statistical analysis. It can serve as a graduate-level textbook and will be of interest to applied mathematicians, engineers, and computer scientists.
Book Synopsis Introduction to Statistical Quality Control by : Douglas C. Montgomery
Download or read book Introduction to Statistical Quality Control written by Douglas C. Montgomery and published by John Wiley & Sons. This book was released on 2019-12-30 with total page 773 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Once solely the domain of engineers, quality control has become a vital business operation used to increase productivity and secure competitive advantage. Introduction to Statistical Quality Control offers a detailed presentation of the modern statistical methods for quality control and improvement. Thorough coverage of statistical process control (SPC) demonstrates the efficacy of statistically-oriented experiments in the context of process characterization, optimization, and acceptance sampling, while examination of the implementation process provides context to real-world applications. Emphasis on Six Sigma DMAIC (Define, Measure, Analyze, Improve and Control) provides a strategic problem-solving framework that can be applied across a variety of disciplines.Adopting a balanced approach to traditional and modern methods, this text includes coverage of SQC techniques in both industrial and non-manufacturing settings, providing fundamental knowledge to students of engineering, statistics, business, and management sciences.A strong pedagogical toolset, including multiple practice problems, real-world data sets and examples, provides students with a solid base of conceptual and practical knowledge."--
Book Synopsis Contemporary Bayesian Econometrics and Statistics by : John Geweke
Download or read book Contemporary Bayesian Econometrics and Statistics written by John Geweke and published by John Wiley & Sons. This book was released on 2005-10-03 with total page 322 pages. Available in PDF, EPUB and Kindle. Book excerpt: Tools to improve decision making in an imperfect world This publication provides readers with a thorough understanding of Bayesian analysis that is grounded in the theory of inference and optimal decision making. Contemporary Bayesian Econometrics and Statistics provides readers with state-of-the-art simulation methods and models that are used to solve complex real-world problems. Armed with a strong foundation in both theory and practical problem-solving tools, readers discover how to optimize decision making when faced with problems that involve limited or imperfect data. The book begins by examining the theoretical and mathematical foundations of Bayesian statistics to help readers understand how and why it is used in problem solving. The author then describes how modern simulation methods make Bayesian approaches practical using widely available mathematical applications software. In addition, the author details how models can be applied to specific problems, including: * Linear models and policy choices * Modeling with latent variables and missing data * Time series models and prediction * Comparison and evaluation of models The publication has been developed and fine- tuned through a decade of classroom experience, and readers will find the author's approach very engaging and accessible. There are nearly 200 examples and exercises to help readers see how effective use of Bayesian statistics enables them to make optimal decisions. MATLAB? and R computer programs are integrated throughout the book. An accompanying Web site provides readers with computer code for many examples and datasets. This publication is tailored for research professionals who use econometrics and similar statistical methods in their work. With its emphasis on practical problem solving and extensive use of examples and exercises, this is also an excellent textbook for graduate-level students in a broad range of fields, including economics, statistics, the social sciences, business, and public policy.
Book Synopsis The World Bank Research Observer by :
Download or read book The World Bank Research Observer written by and published by . This book was released on 2003 with total page 300 pages. Available in PDF, EPUB and Kindle. Book excerpt:
