Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 15 of 15 for “"outlier rejection"”.
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Graph-Theoretic Outlier Rejection: From Instance to Category-Level Perception
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. …
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Omnidirectional Vision for an Autonomous Surface Vehicle
… feature tracking, motion detection, and outlier rejection. The choice of point-wise features and outlier rejection based method makes motion detection and stationary obstacle detection efficient. Long run outdoor experiments are conducted in real time and show the effectiveness of the …
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Toward autonomous underwater mapping in partially structured 3D environments
… in a factor graph. We also present a system for outlier rejection and smoothing of 3D sonar data, and for generating loop closure constraints based on the alignment of smoothed submaps. Our factor graph SLAM backend combines loop closure constraints from sonar data with detections of visual …
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Toward autonomous underwater mapping in partially structured 3D environments
… in a factor graph. We also present a system for outlier rejection and smoothing of 3D sonar data, and for generating loop closure constraints based on the alignment of smoothed submaps. Our factor graph SLAM backend combines loop closure constraints from sonar data with detections of visual …
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Onboard Aircraft Traffic Tracking Algorithm to Support Conflict Detection and Resolution using Multi-sensor Data Integration and Integrity Monitoring
… Extrapolation (AIME) test statistic, 3) outlier rejection techniques. Normalized residuals detect sudden jumps and miss-modeling errors; AIME test statistic detects slowly growing errors. Outlier rejection technique is similar to 1 and detects sudden jumps in sensor measurements, which do …
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Real-Time Implementation of Vision Algorithm for Control, Stabilization, and Target Tracking for a Hovering Micro-UAV
… extended Kalman filter with a standard-deviation outlier rejection technique (SORT). This implementation was designed specifically for use as an on-board vision solution in determining movement of small unmanned air vehicles that have size, weight, and power limitations. Experimental results show …
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Navigation and target localization performance of the autonomous underwater vehicle REMUS
… that improves positioning accuracy, provides rejection of poor fixes, and decreases energy use due to excessive corrections in course. Research was conducted in the context of Naval Special Warfare and its current vision for use of the REMUS vehicle in shallow water mine hunting. Navigation …
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Robust object pose estimation with point clouds from vision and touch
… correspondence, multiple object estimation, and outlier rejection without losing the ability to obtain a globally optimal solution. We probe the extent to which rich problem-specific formulations typically tackled with unreliable nonlinear optimization can be rigorously treated in a global …
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Machine Learning Classification of Traumatic Brain Injury Patients Versus Healthy Controls Using Arterial Spin Labeled Perfusion MRI
… as part of this aim. Furthermore, several ASL outlier cleaning methods, such as the Structural Correlation- Based Outlier REjection (SCORE) and prior-guided, slice-wise adaptive outlier cleaning (PAOCSL) algorithms, are examined in relation to improving the SNR and SVM performance. While the …
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Batch Continuous-Time Trajectory Estimation
… estimation framework. We also present a novel outlier rejection scheme that uses a constant-velocity model to account for motion distortion. The core algorithms are validated using data from a two-axis scanning lidar mounted on a robot, collected over a 1.1 kilometer traversal.
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Robust and Lightweight Localization and Dense Mapping for Multi-Robot Systems
… Consistency Maximization (PCM) to reject outliers in the loop closure measurements. The second approach, named meshLAMP, is an extension of LAMP that uses Graduated Non-Convexity to reject ouliers and creates a lightweight mesh map of the environment. To address the limitations in …
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Population-wise consistent segmentation of diffusion weighted magnetic resonance images
… for clustering, registration, atlas-building and outlier rejection. In this thesis we develop, implement and evaluate these tools individually and together as a population-wise segmentation tool. Together, Consistency Clustering enables automatic atlas construction in DT-MRI for a population, …
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A quality control model for the development of high-confidence flotation test data
… determinations have been calculated. An outlier rejection model for adjudication of the replicate built-up head grades is proposed, and a complete flowsheet of the quality control model is developed from first principles. The effect of this model on the PGE total balance is analysed. It …
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Optimization Techniques for Trustworthy 3D Object Understanding
… We also present a compatibility-based outlier rejection scheme to handle outliers, and evaluate the proposed approach on synthetic and real data. Next, we focus on estimating the pose of an object given its shape and a single RGB image (no depth). Assuming only bounded noise on 2D …
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Robust Statistical Radio Interferometric Methods for the Detection of the Epoch of Reionization
… and other non-thermal effects. Traditional outlier rejection algorithms are ad-hoc, often require manual input, and can be intricate and costly; these can miss anomalous effects and cause overflagging. Furthermore, commonly used calibration methods assume an underlying Gaussian noise …