{"id":"https://openalex.org/W4282913827","doi":"https://doi.org/10.1109/tpami.2022.3179463","title":"Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization","display_name":"Certifiably Optimal Outlier-Robust Geometric Perception: Semidefinite Relaxations and Scalable Global Optimization","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4282913827","doi":"https://doi.org/10.1109/tpami.2022.3179463","pmid":"https://pubmed.ncbi.nlm.nih.gov/35639680"},"language":"en","primary_location":{"id":"doi:10.1109/tpami.2022.3179463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2022.3179463","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"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/A5101496403","display_name":"Heng Yang","orcid":"https://orcid.org/0000-0002-8873-9576"},"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"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Heng Yang","raw_affiliation_strings":["Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, 02139"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, 02139","institution_ids":["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"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Luca Carlone","raw_affiliation_strings":["Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, 02139"],"affiliations":[{"raw_affiliation_string":"Laboratory for Information and Decision Systems (LIDS), Massachusetts Institute of Technology, Cambridge, MA, 02139","institution_ids":["https://openalex.org/I63966007"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5101496403"],"corresponding_institution_ids":["https://openalex.org/I63966007"],"apc_list":null,"apc_paid":null,"fwci":28.7057,"has_fulltext":false,"cited_by_count":53,"citation_normalized_percentile":{"value":0.99549911,"is_in_top_1_percent":true,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"45","issue":"3","first_page":"1","last_page":"1"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"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":0.9998000264167786,"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/T10531","display_name":"Advanced Vision and Imaging","score":0.9944000244140625,"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"}},{"id":"https://openalex.org/T10996","display_name":"Computational Geometry and Mesh Generation","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/1704","display_name":"Computer Graphics and Computer-Aided Design"},"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/semidefinite-programming","display_name":"Semidefinite programming","score":0.8404231667518616},{"id":"https://openalex.org/keywords/solver","display_name":"Solver","score":0.5890472531318665},{"id":"https://openalex.org/keywords/ransac","display_name":"RANSAC","score":0.571615993976593},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5684525370597839},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.5565803647041321},{"id":"https://openalex.org/keywords/relaxation","display_name":"Relaxation (psychology)","score":0.4746461510658264},{"id":"https://openalex.org/keywords/pose","display_name":"Pose","score":0.4725841283798218},{"id":"https://openalex.org/keywords/scalability","display_name":"Scalability","score":0.47073543071746826},{"id":"https://openalex.org/keywords/mathematical-optimization","display_name":"Mathematical optimization","score":0.45802435278892517},{"id":"https://openalex.org/keywords/convex-optimization","display_name":"Convex optimization","score":0.41382086277008057},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.3858439326286316},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3790966272354126},{"id":"https://openalex.org/keywords/regular-polygon","display_name":"Regular polygon","score":0.27312034368515015},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2689594030380249},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.17706701159477234}],"concepts":[{"id":"https://openalex.org/C101901036","wikidata":"https://www.wikidata.org/wiki/Q2269096","display_name":"Semidefinite programming","level":2,"score":0.8404231667518616},{"id":"https://openalex.org/C2778770139","wikidata":"https://www.wikidata.org/wiki/Q1966904","display_name":"Solver","level":2,"score":0.5890472531318665},{"id":"https://openalex.org/C114744707","wikidata":"https://www.wikidata.org/wiki/Q218533","display_name":"RANSAC","level":3,"score":0.571615993976593},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5684525370597839},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.5565803647041321},{"id":"https://openalex.org/C2776029896","wikidata":"https://www.wikidata.org/wiki/Q3935810","display_name":"Relaxation (psychology)","level":2,"score":0.4746461510658264},{"id":"https://openalex.org/C52102323","wikidata":"https://www.wikidata.org/wiki/Q1671968","display_name":"Pose","level":2,"score":0.4725841283798218},{"id":"https://openalex.org/C48044578","wikidata":"https://www.wikidata.org/wiki/Q727490","display_name":"Scalability","level":2,"score":0.47073543071746826},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.45802435278892517},{"id":"https://openalex.org/C157972887","wikidata":"https://www.wikidata.org/wiki/Q463359","display_name":"Convex optimization","level":3,"score":0.41382086277008057},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.3858439326286316},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3790966272354126},{"id":"https://openalex.org/C112680207","wikidata":"https://www.wikidata.org/wiki/Q714886","display_name":"Regular polygon","level":2,"score":0.27312034368515015},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2689594030380249},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.17706701159477234},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C77805123","wikidata":"https://www.wikidata.org/wiki/Q161272","display_name":"Social psychology","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/tpami.2022.3179463","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tpami.2022.3179463","pdf_url":null,"source":{"id":"https://openalex.org/S199944782","display_name":"IEEE Transactions on Pattern Analysis and Machine Intelligence","issn_l":"0162-8828","issn":["0162-8828","1939-3539","2160-9292"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310320439","host_organization_name":"IEEE Computer Society","host_organization_lineage":["https://openalex.org/P4310320439","https://openalex.org/P4310319808"],"host_organization_lineage_names":["IEEE Computer Society","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 Pattern Analysis and Machine Intelligence","raw_type":"journal-article"},{"id":"pmid:35639680","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/35639680","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE transactions on pattern analysis and machine intelligence","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G1933526389","display_name":null,"funder_award_id":"CAREER award ?Certifiable Perception for Autonom","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"},{"id":"https://openalex.org/G2801915420","display_name":null,"funder_award_id":"DCIST CRA W911NF-17- 2-0181","funder_id":"https://openalex.org/F4320338295","funder_display_name":"Army Research Laboratory"},{"id":"https://openalex.org/G7482332922","display_name":null,"funder_award_id":"Resilient Perception in Degraded Environments prog","funder_id":"https://openalex.org/F4320332503","funder_display_name":"Lincoln Laboratory, Massachusetts Institute of Technology"},{"id":"https://openalex.org/G954955978","display_name":null,"funder_award_id":"RAIDER N00014-18-1-2828","funder_id":"https://openalex.org/F4320337345","funder_display_name":"Office of Naval Research"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320315144","display_name":"MathWorks","ror":"https://ror.org/01n8qtk87"},{"id":"https://openalex.org/F4320332503","display_name":"Lincoln Laboratory, Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44"},{"id":"https://openalex.org/F4320337345","display_name":"Office of Naval Research","ror":"https://ror.org/00rk2pe57"},{"id":"https://openalex.org/F4320338295","display_name":"Army Research Laboratory","ror":"https://ror.org/011hc8f90"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":113,"referenced_works":["https://openalex.org/W124242857","https://openalex.org/W653291882","https://openalex.org/W1484371059","https://openalex.org/W1514108073","https://openalex.org/W1539091696","https://openalex.org/W1554704324","https://openalex.org/W1559197676","https://openalex.org/W1608655332","https://openalex.org/W1861508522","https://openalex.org/W1957167950","https://openalex.org/W1964603869","https://openalex.org/W1967344706","https://openalex.org/W1970050176","https://openalex.org/W1980610004","https://openalex.org/W1982831910","https://openalex.org/W1991264156","https://openalex.org/W1993267444","https://openalex.org/W2009422376","https://openalex.org/W2012110988","https://openalex.org/W2022004799","https://openalex.org/W2022327575","https://openalex.org/W2055647979","https://openalex.org/W2065162099","https://openalex.org/W2066459185","https://openalex.org/W2070740567","https://openalex.org/W2071550336","https://openalex.org/W2085261163","https://openalex.org/W2088616581","https://openalex.org/W2100556411","https://openalex.org/W2105340458","https://openalex.org/W2107156416","https://openalex.org/W2109271936","https://openalex.org/W2115001439","https://openalex.org/W2130017587","https://openalex.org/W2133442958","https://openalex.org/W2134834581","https://openalex.org/W2143075842","https://openalex.org/W2151290401","https://openalex.org/W2160821342","https://openalex.org/W2163017063","https://openalex.org/W2164703480","https://openalex.org/W2181274189","https://openalex.org/W2205514457","https://openalex.org/W2215550549","https://openalex.org/W2344109021","https://openalex.org/W2408654640","https://openalex.org/W2471962767","https://openalex.org/W2472414548","https://openalex.org/W2547811925","https://openalex.org/W2593721734","https://openalex.org/W2611804663","https://openalex.org/W2738121580","https://openalex.org/W2745007981","https://openalex.org/W2747517534","https://openalex.org/W2749287221","https://openalex.org/W2763831782","https://openalex.org/W2769591697","https://openalex.org/W2798375363","https://openalex.org/W2798791152","https://openalex.org/W2885880010","https://openalex.org/W2889728390","https://openalex.org/W2892614179","https://openalex.org/W2898306786","https://openalex.org/W2925042648","https://openalex.org/W2955863859","https://openalex.org/W2962729173","https://openalex.org/W2962828767","https://openalex.org/W2962954307","https://openalex.org/W2963352393","https://openalex.org/W2963368828","https://openalex.org/W2963381078","https://openalex.org/W2963537367","https://openalex.org/W2963774609","https://openalex.org/W2963873956","https://openalex.org/W2964164560","https://openalex.org/W2964222388","https://openalex.org/W2967579851","https://openalex.org/W2971675497","https://openalex.org/W2973258311","https://openalex.org/W2981874330","https://openalex.org/W2990111328","https://openalex.org/W3001340251","https://openalex.org/W3011972190","https://openalex.org/W3025575255","https://openalex.org/W3034494757","https://openalex.org/W3035581023","https://openalex.org/W3096631473","https://openalex.org/W3100916622","https://openalex.org/W3101014297","https://openalex.org/W3104290757","https://openalex.org/W3106366337","https://openalex.org/W3108671865","https://openalex.org/W3111598592","https://openalex.org/W3119965387","https://openalex.org/W3120760274","https://openalex.org/W3128885578","https://openalex.org/W3132343826","https://openalex.org/W3159716506","https://openalex.org/W3173472634","https://openalex.org/W3176657989","https://openalex.org/W3197084639","https://openalex.org/W3207682209","https://openalex.org/W3211492847","https://openalex.org/W4214601255","https://openalex.org/W4241368925","https://openalex.org/W4244769743","https://openalex.org/W4248598408","https://openalex.org/W4250589301","https://openalex.org/W4288313377","https://openalex.org/W6703028506","https://openalex.org/W6717724730","https://openalex.org/W6765060752","https://openalex.org/W6780187253"],"related_works":["https://openalex.org/W4229588126","https://openalex.org/W2769402452","https://openalex.org/W2091258128","https://openalex.org/W4385261474","https://openalex.org/W1018308721","https://openalex.org/W1983540692","https://openalex.org/W4229059082","https://openalex.org/W4390872624","https://openalex.org/W2896146757","https://openalex.org/W4312206320"],"abstract_inverted_index":{"We":[0],"propose":[1,71],"the":[2,17,57,68,83,92,95,98,111,132,140,150,224,265,278],"first":[3,22],"general":[4],"and":[5,70,118,160,166,172,176,222,272],"scalable":[6],"framework":[7,152],"to":[8,25,64,109,193,211,238],"design":[9],"certifiable":[10],"algorithms":[11],"for":[12,249],"robust":[13,31,250],"geometric":[14,155],"perception":[15,156],"in":[16,67],"presence":[18],"of":[19,97,149,234,236],"outliers.":[20],"Our":[21,105,143,179],"contribution":[23,62,107,145],"is":[24,63,79,108,146,188,209,223],"show":[26],"that":[27,78,127,182,227],"estimation":[28,251],"using":[29],"common":[30],"costs,":[32],"such":[33],"as":[34,49],"truncated":[35],"least":[36],"squares":[37],"(TLS),":[38],"maximum":[39],"consensus,":[40],"Geman-McClure,":[41],"Tukey's":[42],"biweight,":[43],"among":[44],"others,":[45],"can":[46,228],"be":[47],"reformulated":[48],"polynomial":[50],"optimization":[51],"problems":[52,157],"(POPs).":[53],"By":[54],"focusing":[55],"on":[56,131,139,153,219],"TLS":[58],"cost,":[59],"our":[60,184],"second":[61],"exploit":[65],"sparsity":[66],"POP":[69,100],"a":[72,125],"sparse":[73,185],"semidefinite":[74],"programming":[75],"(SDP)":[76],"relaxation":[77,187],"much":[80],"smaller":[81],"than":[82,215],"standard":[84],"Lasserre's":[85],"hierarchy":[86],"while":[87,200],"preserving":[88],"empirical":[89],"exactness,":[90],"i.e.,":[91,259],"SDP":[93,112,134,186,217],"recovers":[94],"optimizer":[96],"nonconvex":[99,141],"with":[101,135,191,232],"an":[102,115,147],"optimality":[103,263],"certificate.":[104],"third":[106],"solve":[110,229],"relaxations":[113],"at":[114],"unprecedented":[116],"scale":[117],"accuracy":[119],"by":[120],"presenting":[121],"[Formula:":[122,206,242,253],"see":[123,207,243,254],"text],":[124],"solver":[126,226],"blends":[128],"global":[129,262],"descent":[130],"convex":[133],"fast":[136,247],"local":[137,275],"search":[138],"POP.":[142],"fourth":[144],"evaluation":[148],"proposed":[151],"six":[154],"including":[158],"single":[159],"multiple":[161],"rotation":[162],"averaging,":[163],"point":[164],"cloud":[165],"mesh":[167],"registration,":[168],"absolute":[169],"pose":[170,175],"estimation,":[171],"category-level":[173],"object":[174],"shape":[177],"estimation.":[178],"experiments":[180],"demonstrate":[181],"(i)":[183],"empirically":[189],"exact":[190],"up":[192,210],"60%-":[194],"90%":[195],"outliers":[196],"across":[197],"applications;":[198],"(ii)":[199],"still":[201],"being":[202],"far":[203],"from":[204],"real-time,":[205],"text]":[208,244,255],"100":[212],"times":[213],"faster":[214],"existing":[216,246],"solvers":[218],"medium-scale":[220],"problems,":[221],"only":[225],"large-scale":[230],"SDPs":[231],"hundreds":[233],"thousands":[235],"constraints":[237],"high":[239],"accuracy;":[240],"(iii)":[241],"safeguards":[245],"heuristics":[248],"(e.g.,":[252],"or":[256,270],"Graduated":[257],"Non-Convexity),":[258],"it":[260],"certifies":[261],"if":[264],"heuristic":[266,279],"estimates":[267,280],"are":[268,281],"optimal,":[269],"detects":[271],"allows":[273],"escaping":[274],"optima":[276],"when":[277],"suboptimal.":[282]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":12},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":19},{"year":2022,"cited_by_count":4}],"updated_date":"2026-03-25T14:56:36.534964","created_date":"2025-10-10T00:00:00"}