8,643 research outputs found
Robust exponential smoothing of multivariate time series.
Multivariate time series may contain outliers of different types. In presence of such outliers, applying standard multivariate time series techniques becomes unreliable. A robust version of multivariate exponential smoothing is proposed. The method is affine equivariant, and involves the selection of a smoothing parameter matrix by minimizing a robust loss function. It is shown that the robust method results in much better forecasts than the classic approach in presence of outliers, and performs similar when the data contain no outliers. Moreover, the robust procedure yields an estimator of the smoothing parameter less subject to downward bias. As a byproduct, a cleaned version of the time series is obtained, as is illustrated by means of a real data example.Data cleaning; Exponential smoothing; Forecasting; Multivariate time series; Robustness;
On-Manifold Preintegration for Real-Time Visual-Inertial Odometry
Current approaches for visual-inertial odometry (VIO) are able to attain
highly accurate state estimation via nonlinear optimization. However, real-time
optimization quickly becomes infeasible as the trajectory grows over time, this
problem is further emphasized by the fact that inertial measurements come at
high rate, hence leading to fast growth of the number of variables in the
optimization. In this paper, we address this issue by preintegrating inertial
measurements between selected keyframes into single relative motion
constraints. Our first contribution is a \emph{preintegration theory} that
properly addresses the manifold structure of the rotation group. We formally
discuss the generative measurement model as well as the nature of the rotation
noise and derive the expression for the \emph{maximum a posteriori} state
estimator. Our theoretical development enables the computation of all necessary
Jacobians for the optimization and a-posteriori bias correction in analytic
form. The second contribution is to show that the preintegrated IMU model can
be seamlessly integrated into a visual-inertial pipeline under the unifying
framework of factor graphs. This enables the application of
incremental-smoothing algorithms and the use of a \emph{structureless} model
for visual measurements, which avoids optimizing over the 3D points, further
accelerating the computation. We perform an extensive evaluation of our
monocular \VIO pipeline on real and simulated datasets. The results confirm
that our modelling effort leads to accurate state estimation in real-time,
outperforming state-of-the-art approaches.Comment: 20 pages, 24 figures, accepted for publication in IEEE Transactions
on Robotics (TRO) 201
Estimating Semiparametric Panel Data Models by Marginal Integration
We propose a new methodology for estimating semiparametric panel data models, with a primary focus on the nonparametric component. We eliminate individual effects using first differencing transformation and estimate the unknown function by marginal integration. We extend our methodology to treat panel data models with both individual and time effects. And we characterize the asymptotic behavior of our estimators. Monte Carlo simulations show that our estimator behaves well in finite samples in both random effects and fixed effects settings.Semiparametric Panel Data Model, Partially Linear, First Differencing, Marginal Integration
Fast space-variant elliptical filtering using box splines
The efficient realization of linear space-variant (non-convolution) filters
is a challenging computational problem in image processing. In this paper, we
demonstrate that it is possible to filter an image with a Gaussian-like
elliptic window of varying size, elongation and orientation using a fixed
number of computations per pixel. The associated algorithm, which is based on a
family of smooth compactly supported piecewise polynomials, the
radially-uniform box splines, is realized using pre-integration and local
finite-differences. The radially-uniform box splines are constructed through
the repeated convolution of a fixed number of box distributions, which have
been suitably scaled and distributed radially in an uniform fashion. The
attractive features of these box splines are their asymptotic behavior, their
simple covariance structure, and their quasi-separability. They converge to
Gaussians with the increase of their order, and are used to approximate
anisotropic Gaussians of varying covariance simply by controlling the scales of
the constituent box distributions. Based on the second feature, we develop a
technique for continuously controlling the size, elongation and orientation of
these Gaussian-like functions. Finally, the quasi-separable structure, along
with a certain scaling property of box distributions, is used to efficiently
realize the associated space-variant elliptical filtering, which requires O(1)
computations per pixel irrespective of the shape and size of the filter.Comment: 12 figures; IEEE Transactions on Image Processing, vol. 19, 201
Fast calibrated additive quantile regression
We propose a novel framework for fitting additive quantile regression models,
which provides well calibrated inference about the conditional quantiles and
fast automatic estimation of the smoothing parameters, for model structures as
diverse as those usable with distributional GAMs, while maintaining equivalent
numerical efficiency and stability. The proposed methods are at once
statistically rigorous and computationally efficient, because they are based on
the general belief updating framework of Bissiri et al. (2016) to loss based
inference, but compute by adapting the stable fitting methods of Wood et al.
(2016). We show how the pinball loss is statistically suboptimal relative to a
novel smooth generalisation, which also gives access to fast estimation
methods. Further, we provide a novel calibration method for efficiently
selecting the 'learning rate' balancing the loss with the smoothing priors
during inference, thereby obtaining reliable quantile uncertainty estimates.
Our work was motivated by a probabilistic electricity load forecasting
application, used here to demonstrate the proposed approach. The methods
described here are implemented by the qgam R package, available on the
Comprehensive R Archive Network (CRAN)
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