{"id":"https://openalex.org/W4382365363","doi":"https://doi.org/10.1109/taes.2023.3290142","title":"Analysis of Scale-Variant Robust Kernel Optimization for Nonlinear Least-Squares Problems","display_name":"Analysis of Scale-Variant Robust Kernel Optimization for Nonlinear Least-Squares Problems","publication_year":2023,"publication_date":"2023-06-28","ids":{"openalex":"https://openalex.org/W4382365363","doi":"https://doi.org/10.1109/taes.2023.3290142"},"language":"en","primary_location":{"id":"doi:10.1109/taes.2023.3290142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3290142","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-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/A5068614203","display_name":"Shounak Das","orcid":"https://orcid.org/0000-0002-5481-3969"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shounak Das","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5015236603","display_name":"Jason N. Gross","orcid":"https://orcid.org/0000-0002-7771-2757"},"institutions":[{"id":"https://openalex.org/I12097938","display_name":"West Virginia University","ror":"https://ror.org/011vxgd24","country_code":"US","type":"education","lineage":["https://openalex.org/I12097938"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Jason N. Gross","raw_affiliation_strings":["Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA"],"affiliations":[{"raw_affiliation_string":"Department of Mechanical and Aerospace Engineering, West Virginia University, Morgantown, WV, USA","institution_ids":["https://openalex.org/I12097938"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5068614203"],"corresponding_institution_ids":["https://openalex.org/I12097938"],"apc_list":null,"apc_paid":null,"fwci":0.2165,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.44997684,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":"59","issue":"6","first_page":"7529","last_page":"7538"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T10500","display_name":"Sparse and Compressive Sensing Techniques","score":0.9945999979972839,"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/T12111","display_name":"Industrial Vision Systems and Defect Detection","score":0.9932000041007996,"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"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9886000156402588,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/residual","display_name":"Residual","score":0.6663212180137634},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5771760940551758},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.554915189743042},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4794936776161194},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.47037094831466675},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.46331146359443665},{"id":"https://openalex.org/keywords/residual-sum-of-squares","display_name":"Residual sum of squares","score":0.46201765537261963},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.45202186703681946},{"id":"https://openalex.org/keywords/scale","display_name":"Scale (ratio)","score":0.425071656703949},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4163205921649933},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.3966059684753418},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34357571601867676},{"id":"https://openalex.org/keywords/non-linear-least-squares","display_name":"Non-linear least squares","score":0.3362084627151489},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3083221912384033},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.26327261328697205},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.12411022186279297}],"concepts":[{"id":"https://openalex.org/C155512373","wikidata":"https://www.wikidata.org/wiki/Q287450","display_name":"Residual","level":2,"score":0.6663212180137634},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5771760940551758},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.554915189743042},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4794936776161194},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.47037094831466675},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.46331146359443665},{"id":"https://openalex.org/C49392186","wikidata":"https://www.wikidata.org/wiki/Q15096882","display_name":"Residual sum of squares","level":4,"score":0.46201765537261963},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.45202186703681946},{"id":"https://openalex.org/C2778755073","wikidata":"https://www.wikidata.org/wiki/Q10858537","display_name":"Scale (ratio)","level":2,"score":0.425071656703949},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4163205921649933},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3966059684753418},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34357571601867676},{"id":"https://openalex.org/C45923927","wikidata":"https://www.wikidata.org/wiki/Q3319230","display_name":"Non-linear least squares","level":3,"score":0.3362084627151489},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3083221912384033},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.26327261328697205},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.12411022186279297},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/taes.2023.3290142","is_oa":false,"landing_page_url":"https://doi.org/10.1109/taes.2023.3290142","pdf_url":null,"source":{"id":"https://openalex.org/S193624734","display_name":"IEEE Transactions on Aerospace and Electronic Systems","issn_l":"0018-9251","issn":["0018-9251","1557-9603","2371-9877"],"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 Transactions on Aerospace and Electronic Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320314413","display_name":"Alpha Foundation for the Improvement of Mine Safety and Health","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1539091696","https://openalex.org/W1611306188","https://openalex.org/W1748582431","https://openalex.org/W1999399477","https://openalex.org/W2070638495","https://openalex.org/W2085261163","https://openalex.org/W2088616581","https://openalex.org/W2109271936","https://openalex.org/W2160821342","https://openalex.org/W2519911873","https://openalex.org/W2562843573","https://openalex.org/W2566597158","https://openalex.org/W2593721734","https://openalex.org/W2774068025","https://openalex.org/W2805521962","https://openalex.org/W2891820683","https://openalex.org/W2948252564","https://openalex.org/W2955863859","https://openalex.org/W2962779523","https://openalex.org/W2967205338","https://openalex.org/W2973258311","https://openalex.org/W3011843772","https://openalex.org/W3035030518","https://openalex.org/W3103149073","https://openalex.org/W3104290757","https://openalex.org/W3104672407","https://openalex.org/W3111598592","https://openalex.org/W3129245057","https://openalex.org/W3130736756","https://openalex.org/W3136283225","https://openalex.org/W3166855724","https://openalex.org/W3176124701","https://openalex.org/W3203066970","https://openalex.org/W3203482640","https://openalex.org/W3205253566","https://openalex.org/W3207682209","https://openalex.org/W3207826836","https://openalex.org/W3211492847","https://openalex.org/W4220866267","https://openalex.org/W4237927139","https://openalex.org/W4255230573"],"related_works":["https://openalex.org/W2034819163","https://openalex.org/W1991217434","https://openalex.org/W2939592218","https://openalex.org/W2058869626","https://openalex.org/W327962130","https://openalex.org/W2026673180","https://openalex.org/W1520338190","https://openalex.org/W1780286370","https://openalex.org/W2092681251","https://openalex.org/W2476684908"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"we":[3],"present":[4,117],"a":[5,98],"method":[6,28,104],"for":[7,36],"increasing":[8],"adaptivity":[9],"of":[10,44,97,120,130,137,154],"an":[11,93],"existing":[12,90],"robust":[13],"estimation":[14],"algorithm":[15,63,139],"by":[16],"learning":[17],"two":[18,31],"parameters":[19,32,125],"to":[20,33,126,150],"better":[21,113],"fit":[22],"the":[23,45,53,58,66,89,118,128,131,152,155],"residual":[24,99],"distribution.":[25],"The":[26],"analyzed":[27],"uses":[29],"these":[30],"calculate":[34],"weights":[35,46],"iterative":[37],"reweighted":[38],"least":[39],"squares.":[40],"This":[41],"adaptive":[42],"nature":[43],"can":[47],"be":[48],"helpful":[49],"in":[50,57],"situations":[51],"where":[52],"noise":[54],"level":[55],"varies":[56],"measurements.":[59],"We":[60,86,115,133],"test":[61],"our":[62,103,138],"first":[64],"on":[65],"point":[67],"cloud":[68],"registration":[69],"problem":[70],"with":[71,81,141,144],"synthetic":[72],"datasets":[73],"and":[74,77,109,123],"light":[75],"detection":[76],"ranging":[78],"(LiDAR)":[79],"odometry":[80],"open":[82],"source":[83],"real-world":[84],"datasets.":[85],"show":[87,151],"that":[88],"approach":[91],"needs":[92],"additional":[94],"manual":[95],"tuning":[96],"scale":[100,122],"parameter,":[101],"which":[102],"directly":[105],"learns":[106],"from":[107,148],"data":[108],"has":[110],"similar":[111,145],"or":[112],"performance.":[114],"further":[116],"idea":[119],"decoupling":[121],"shape":[124],"improve":[127],"performance":[129],"algorithm.":[132],"give":[134],"detailed":[135],"analysis":[136],"along":[140],"its":[142],"comparison":[143],"well-known":[146],"algorithms":[147],"literature":[149],"benefits":[153],"proposed":[156],"approach.":[157]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}