{"id":"https://openalex.org/W3022905800","doi":"https://doi.org/10.1109/lra.2021.3061331","title":"Adaptive Robust Kernels for Non-Linear Least Squares Problems","display_name":"Adaptive Robust Kernels for Non-Linear Least Squares Problems","publication_year":2021,"publication_date":"2021-02-23","ids":{"openalex":"https://openalex.org/W3022905800","doi":"https://doi.org/10.1109/lra.2021.3061331","mag":"3022905800"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2021.3061331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061331","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["arxiv","crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2004.14938","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5079779228","display_name":"Nived Chebrolu","orcid":"https://orcid.org/0000-0001-6408-4459"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Nived Chebrolu","raw_affiliation_strings":["University of Bonn, Bonn, Germany","University of Bonn\u2028Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6408-4459","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn\u2028Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018429768","display_name":"Thomas L\u00e4be","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Labe","raw_affiliation_strings":["University of Bonn, Bonn, Germany","University of Bonn\u2028Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4873-513X","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn\u2028Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048814731","display_name":"Olga Vysotska","orcid":"https://orcid.org/0000-0003-4660-9869"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Olga Vysotska","raw_affiliation_strings":["University of Bonn, Bonn, Germany","University of Bonn\u2028Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-4660-9869","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn\u2028Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068364473","display_name":"Jens Behley","orcid":"https://orcid.org/0000-0001-6483-0319"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jens Behley","raw_affiliation_strings":["University of Bonn, Bonn, Germany","University of Bonn\u2028Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0001-6483-0319","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn\u2028Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5011166267","display_name":"Cyrill Stachniss","orcid":"https://orcid.org/0000-0003-1173-6972"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Cyrill Stachniss","raw_affiliation_strings":["University of Bonn, Bonn, Germany","University of Bonn\u2028Bonn, Germany"],"raw_orcid":"https://orcid.org/0000-0003-1173-6972","affiliations":[{"raw_affiliation_string":"University of Bonn, Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]},{"raw_affiliation_string":"University of Bonn\u2028Bonn, Germany","institution_ids":["https://openalex.org/I135140700"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":2.1535,"has_fulltext":true,"cited_by_count":3,"citation_normalized_percentile":{"value":0.92518511,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":95},"biblio":{"volume":"6","issue":"2","first_page":"2240","last_page":"2247"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.7549123764038086},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.673453688621521},{"id":"https://openalex.org/keywords/minification","display_name":"Minification","score":0.6510294675827026},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.618273913860321},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5598576664924622},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5483255982398987},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.48551511764526367},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.4491333067417145},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.37669050693511963},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3724483847618103},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.09568589925765991}],"concepts":[{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.7549123764038086},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.673453688621521},{"id":"https://openalex.org/C147764199","wikidata":"https://www.wikidata.org/wiki/Q6865248","display_name":"Minification","level":2,"score":0.6510294675827026},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.618273913860321},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5598576664924622},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5483255982398987},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.48551511764526367},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.4491333067417145},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.37669050693511963},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3724483847618103},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.09568589925765991},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"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},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2021.3061331","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2021.3061331","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766","2377-3774"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:arXiv.org:2004.14938","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.14938","pdf_url":"https://arxiv.org/pdf/2004.14938","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"mag:3022905800","is_oa":true,"landing_page_url":"http://export.arxiv.org/pdf/2004.14938","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"arXiv (Cornell University)","raw_type":null},{"id":"doi:10.48550/arxiv.2004.14938","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2004.14938","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2004.14938","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2004.14938","pdf_url":"https://arxiv.org/pdf/2004.14938","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320879","display_name":"Deutsche Forschungsgemeinschaft","ror":"https://ror.org/018mejw64"}],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W3022905800.pdf","grobid_xml":"https://content.openalex.org/works/W3022905800.grobid-xml"},"referenced_works_count":32,"referenced_works":["https://openalex.org/W121106209","https://openalex.org/W145691285","https://openalex.org/W1539091696","https://openalex.org/W1560270123","https://openalex.org/W1748582431","https://openalex.org/W1999399477","https://openalex.org/W2009840425","https://openalex.org/W2046033161","https://openalex.org/W2058009001","https://openalex.org/W2088616581","https://openalex.org/W2109271936","https://openalex.org/W2109635530","https://openalex.org/W2133631479","https://openalex.org/W2137052305","https://openalex.org/W2150066425","https://openalex.org/W2153054365","https://openalex.org/W2154021030","https://openalex.org/W2296360731","https://openalex.org/W2562843573","https://openalex.org/W2805521962","https://openalex.org/W2898306786","https://openalex.org/W2955863859","https://openalex.org/W2962867954","https://openalex.org/W2963873956","https://openalex.org/W2967205338","https://openalex.org/W2973258311","https://openalex.org/W3111598592","https://openalex.org/W4211222846","https://openalex.org/W4214528849","https://openalex.org/W4297970710","https://openalex.org/W6745935785","https://openalex.org/W6772886726"],"related_works":["https://openalex.org/W3130736756","https://openalex.org/W2979427086","https://openalex.org/W2964398106","https://openalex.org/W3211492847","https://openalex.org/W3118754645","https://openalex.org/W2101264740","https://openalex.org/W79530939","https://openalex.org/W3138674686","https://openalex.org/W2466070154","https://openalex.org/W2583076397","https://openalex.org/W3150710509","https://openalex.org/W2921691159","https://openalex.org/W3105336669","https://openalex.org/W2770490380","https://openalex.org/W2188732475","https://openalex.org/W2159660986","https://openalex.org/W3198240092","https://openalex.org/W3210197677","https://openalex.org/W2945737228","https://openalex.org/W1595220977"],"abstract_inverted_index":{"State":[0],"estimation":[1,12,105],"is":[2,13,82],"a":[3,65,76,129],"key":[4],"ingredient":[5],"in":[6,43,53,107,117],"most":[7],"robotic":[8],"systems.":[9],"Often,":[10],"state":[11],"performed":[14],"using":[15],"some":[16],"form":[17],"of":[18,75,89,132],"least":[19],"squares":[20],"minimization.":[21],"Basically,":[22],"all":[23],"error":[24],"minimization":[25],"procedures":[26],"that":[27,121],"work":[28],"on":[29,86],"real-world":[30],"data":[31],"use":[32,74],"robust":[33,78],"kernels":[34],"as":[35],"the":[36,44,73,87,90,94,133],"standard":[37],"way":[38],"for":[39,64],"dealing":[40],"with":[41,102],"outliers":[42],"data.":[45],"These":[46],"kernels,":[47],"however,":[48],"are":[49],"often":[50],"hand-picked,":[51],"sometimes":[52],"different":[54],"combinations,":[55],"and":[56,92,111],"their":[57],"parameters":[58],"need":[59],"to":[60],"be":[61],"tuned":[62,84],"manually":[63],"particular":[66],"problem.":[67],"In":[68],"this":[69,118],"letter,":[70],"we":[71],"propose":[72],"generalized":[77],"kernel":[79,101,134],"family,":[80],"which":[81],"automatically":[83],"based":[85],"distribution":[88],"residuals":[91],"includes":[93],"common":[95],"m-estimators.":[96],"We":[97],"tested":[98],"our":[99,122],"adaptive":[100],"two":[103],"popular":[104],"problems":[106],"robotics,":[108],"namely":[109],"ICP":[110],"bundle":[112],"adjustment.":[113],"The":[114],"experiments":[115],"presented":[116],"letter":[119],"suggest":[120],"approach":[123],"provides":[124],"higher":[125],"robustness":[126],"while":[127],"avoiding":[128],"manual":[130],"tuning":[131],"parameters.":[135]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-25T09:21:30.201066","created_date":"2025-10-10T00:00:00"}