{"id":"https://openalex.org/W3207682209","doi":"https://doi.org/10.1109/icra48506.2021.9562007","title":"ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants","display_name":"ROBIN: a Graph-Theoretic Approach to Reject Outliers in Robust Estimation using Invariants","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3207682209","doi":"https://doi.org/10.1109/icra48506.2021.9562007","mag":"3207682209"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9562007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5006694174","display_name":"Jingnan Shi","orcid":"https://orcid.org/0000-0001-6918-3237"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Jingnan Shi","raw_affiliation_strings":["Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100763891","display_name":"Heng Yang","orcid":"https://orcid.org/0009-0008-0413-4133"},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Heng Yang","raw_affiliation_strings":["Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042157108","display_name":"Luca Carlone","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]},{"id":"https://openalex.org/I4210143601","display_name":"Decision Systems (United States)","ror":"https://ror.org/0434dpa13","country_code":"US","type":"company","lineage":["https://openalex.org/I4210143601"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information & Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5006694174"],"corresponding_institution_ids":["https://openalex.org/I4210143601","https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":8.0221,"has_fulltext":false,"cited_by_count":69,"citation_normalized_percentile":{"value":0.97943004,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"13820","last_page":"13827"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12072","display_name":"Machine Learning and Algorithms","score":0.9904999732971191,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11512","display_name":"Anomaly Detection Techniques and Applications","score":0.9900000095367432,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9815999865531921,"subfield":{"id":"https://openalex.org/subfields/2209","display_name":"Industrial and Manufacturing Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.8616732358932495},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.8396233320236206},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5454358458518982},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.5374617576599121},{"id":"https://openalex.org/keywords/clique","display_name":"Clique","score":0.48638585209846497},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4391985535621643},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.4128398895263672},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.37659603357315063},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3722326159477234},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.3646408021450043},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3240795433521271},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.3033239543437958},{"id":"https://openalex.org/keywords/combinatorics","display_name":"Combinatorics","score":0.0832119882106781},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.07921493053436279}],"concepts":[{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.8616732358932495},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.8396233320236206},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5454358458518982},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.5374617576599121},{"id":"https://openalex.org/C2777035058","wikidata":"https://www.wikidata.org/wiki/Q1662634","display_name":"Clique","level":2,"score":0.48638585209846497},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4391985535621643},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.4128398895263672},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.37659603357315063},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3722326159477234},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.3646408021450043},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3240795433521271},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.3033239543437958},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0832119882106781},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.07921493053436279},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9562007","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9562007","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":86,"referenced_works":["https://openalex.org/W46920137","https://openalex.org/W1530454533","https://openalex.org/W1539091696","https://openalex.org/W1541388462","https://openalex.org/W1823437338","https://openalex.org/W1907417778","https://openalex.org/W1988874269","https://openalex.org/W1993267444","https://openalex.org/W2017470165","https://openalex.org/W2033819227","https://openalex.org/W2046434485","https://openalex.org/W2057925324","https://openalex.org/W2085261163","https://openalex.org/W2088616581","https://openalex.org/W2106199912","https://openalex.org/W2107402720","https://openalex.org/W2107466766","https://openalex.org/W2109271936","https://openalex.org/W2111073598","https://openalex.org/W2119801619","https://openalex.org/W2133442958","https://openalex.org/W2139103507","https://openalex.org/W2154232020","https://openalex.org/W2156731654","https://openalex.org/W2159719921","https://openalex.org/W2166820607","https://openalex.org/W2168104347","https://openalex.org/W2211330955","https://openalex.org/W2211633734","https://openalex.org/W2335698258","https://openalex.org/W2344109021","https://openalex.org/W2461937780","https://openalex.org/W2471962767","https://openalex.org/W2489822048","https://openalex.org/W2519911873","https://openalex.org/W2562843573","https://openalex.org/W2593721734","https://openalex.org/W2600447016","https://openalex.org/W2725219117","https://openalex.org/W2745007981","https://openalex.org/W2763831782","https://openalex.org/W2769591697","https://openalex.org/W2786036844","https://openalex.org/W2891820683","https://openalex.org/W2898306786","https://openalex.org/W2912521810","https://openalex.org/W2913192828","https://openalex.org/W2955863859","https://openalex.org/W2962729173","https://openalex.org/W2962828767","https://openalex.org/W2963873956","https://openalex.org/W2967579851","https://openalex.org/W2973258311","https://openalex.org/W2981874330","https://openalex.org/W2988085408","https://openalex.org/W2990111328","https://openalex.org/W3011972190","https://openalex.org/W3014710292","https://openalex.org/W3034494757","https://openalex.org/W3035434998","https://openalex.org/W3039925688","https://openalex.org/W3104290757","https://openalex.org/W3105459032","https://openalex.org/W3111598592","https://openalex.org/W3124420883","https://openalex.org/W3207682209","https://openalex.org/W3211492847","https://openalex.org/W4244387609","https://openalex.org/W4244769743","https://openalex.org/W4248598408","https://openalex.org/W4285053689","https://openalex.org/W4285719527","https://openalex.org/W4287819709","https://openalex.org/W4297970710","https://openalex.org/W6601910047","https://openalex.org/W6631868027","https://openalex.org/W6679909495","https://openalex.org/W6688174953","https://openalex.org/W6703028506","https://openalex.org/W6747827861","https://openalex.org/W6770219071","https://openalex.org/W6771041902","https://openalex.org/W6772886726","https://openalex.org/W6775415071","https://openalex.org/W6781297491","https://openalex.org/W6785908184"],"related_works":["https://openalex.org/W2131378265","https://openalex.org/W2984240274","https://openalex.org/W3107042705","https://openalex.org/W2115876589","https://openalex.org/W2981196697","https://openalex.org/W1988708904","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W4385261474","https://openalex.org/W1983540692"],"abstract_inverted_index":{"Many":[0],"estimation":[1,47,55,116,217],"problems":[2,37,226],"in":[3,13,76,137,151,166,188,215,222,245,247],"robotics,":[4],"computer":[5],"vision,":[6],"and":[7,30,130,155,227],"learning":[8],"require":[9],"estimating":[10],"unknown":[11],"quantities":[12],"the":[14,21,43,77,114,146,159,168,172,179],"face":[15],"of":[16,23,42,68,79,95,106,171,178,193,232],"outliers.":[17,49,81,89],"Outliers":[18,204],"are":[19,48,61,108,126],"typically":[20,156],"result":[22],"incorrect":[24],"data":[25],"association":[26],"or":[27,58],"feature":[28],"matching,":[29],"it":[31,229],"is":[32,133],"not":[33],"uncommon":[34],"to":[35,63,72,87,100,158,186,198,202,211,238],"have":[36],"where":[38,124],"more":[39,239],"than":[40,240],"90%":[41],"measurements":[44,107,125],"used":[45],"for":[46,53],"While":[50],"current":[51],"approaches":[52],"robust":[54,237],"(e.g.,":[56],"RANSAC":[57],"graduated":[59],"non-convexity)":[60],"able":[62],"deal":[64],"with":[65],"moderate":[66],"amounts":[67],"outliers,":[69],"they":[70],"fail":[71],"produce":[73],"accurate":[74],"estimates":[75],"presence":[78],"many":[80],"This":[82],"paper":[83],"develops":[84],"an":[85,176],"approach":[86,201],"prune":[88,213],"First,":[90],"we":[91,119],"develop":[92,120],"a":[93,104,121,138,149],"theory":[94],"invariance":[96],"that":[97,145,165],"allows":[98,209],"us":[99,210],"quickly":[101,212],"check":[102],"if":[103],"subset":[105],"mutually":[109],"compatible":[110],"without":[111],"explicitly":[112],"solving":[113],"corresponding":[115],"problem.":[117],"Second,":[118],"graph-theoretic":[122],"framework,":[123],"modeled":[127],"as":[128],"vertices":[129],"mutual":[131],"compatibility":[132,153,173],"captured":[134],"by":[135],"edges":[136],"graph.":[139],"We":[140,162,219],"generalize":[141],"existing":[142,233],"results":[143],"showing":[144],"inliers":[147],"form":[148],"clique":[150],"this":[152],"graph":[154,174],"belong":[157],"maximum":[160,169,180],"clique.":[161],"also":[163],"show":[164,228],"practice":[167],"k-core":[170],"provides":[175],"approximation":[177],"clique,":[181],"while":[182,243],"being":[183],"much":[184],"faster":[185],"compute":[187],"large":[189,248],"problems.":[190,218,249],"The":[191],"combination":[192],"these":[194],"two":[195],"contributions":[196],"leads":[197],"ROBIN,":[199],"our":[200],"Reject":[203],"Based":[205],"on":[206],"INvariants,":[207],"which":[208],"outliers":[214],"generic":[216],"demonstrate":[220],"ROBIN":[221],"four":[223],"geometric":[224],"perception":[225],"boosts":[230],"robustness":[231],"solvers":[234],"(making":[235],"them":[236],"95%":[241],"outliers),":[242],"running":[244],"milliseconds":[246]},"counts_by_year":[{"year":2025,"cited_by_count":10},{"year":2024,"cited_by_count":17},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":15},{"year":2021,"cited_by_count":14}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
