Research updates for robust clustering through dirichelt process clustering

[ ] Dirichlet Pose Graph Optimization

• Generate GNSS Data
  • dual receivers
    • one high quality receiver with faults
    • one low quality with no faults
• Test generic M-Estimation techniques
  • ref:: hybrid inference paper
• Test new graph based methods
  • [ x] Test switchable constraints
    • [x ] try between switchable constraints ( time const. )
  • [ x] Test DCS
  • [ x] Test Max Mixtures
  • [ x] Test Realizing, Reversing, Recovering
• read Condensed Measurements paper
  • [x ] possible link to smart factor
• Robust Pose-graph Opt.
  • Test Switchable Constrainst on Manhattan 3500
  • Automate Residual Collection from GTSAM
  • Port GMM-DP from Python to C++
  • Test on other pose-graphs
• Test E.M. Max-Mix Covariance Est.
  • Breakdown point
  • Confusion Matrix
• Write E.M. D.P. Max-Mix Optimization
  • Iterate between E.M and Max-Mix to reject outliers
  • Use Neyman–Pearson lemma to weight final Cov. Est.
• Test D.P Max-Mix on poor initial covariance graph
  • [] vary noise on pose-graph constraints
  • [] compare S.C., (unmodified) MM, and D.P. M.M
• IAE INS filtering
  • [] Simulate INS data using PPP/INS Sim.
  • [] Write Python Filter

Posts:

• Nov 20, 2018 • Ryan Watson • dirichletRobustPoseGraph   Covariance Prior  

  Testing Covarince Matrix Priors

• Nov 9, 2018 • Ryan Watson • dirichletRobustPoseGraph   Covariance Prior  

  Covarince Matrix Priors

• Nov 6, 2018 • Ryan Watson • dirichletRobustPoseGraph   Sensitivity Analysis  

  Sensitivity of Posterior Distribution to Hyperparameters

• Sep 14, 2017 • Ryan Watson • dirichletRobustPoseGraph  

  Testing Robust Graph Optimization With Poor A-Priori Measurement Error Covariance

• Sep 12, 2017 • Ryan Watson • dirichletRobustPoseGraph  

  Testing D.P. M.M On Graph With Randomly Added False Constraints

• Jul 26, 2017 • Ryan Watson • dirichletRobustPoseGraph   variational inference  

  Variational Inference: A Brief Introduction

• Jul 25, 2017 • Ryan Watson • dirichletRobustPoseGraph   Gausian Mixture Model   max-mixtures   E.M. Optimization  

  Continued Testing of EM on Faulty Pose Graphs

• Jul 24, 2017 • Ryan Watson • dirichletRobustPoseGraph   Gausian Mixture Model   max-mixtures  

  Initial Processing Test of EM on Faulty Pose Graphs

• Jul 20, 2017 • Ryan Watson • dirichletRobustPoseGraph   Gausian Mixture Model   max-mixtures  

  G.M.M. Sensitivity to Dirichlet Hyperparameter

• Jul 19, 2017 • Ryan Watson • dirichletRobustPoseGraph   Gausian Mixture Model   max-mixtures  

  Validation of G.M.M Covariance Estimation Using Simulated Distributions

• Jul 18, 2017 • Ryan Watson • dirichletRobustPoseGraph   Gausian Mixture Model   max-mixtures  

  Validation of G.M.M Covariance Estimation Using Manhattan Pose Graph

• Jun 30, 2017 • Ryan Watson • dirichletRobustPoseGraph   IAE   Inverse Wishart   Idea  

  Innovation Adaptive Estimation Based on Inverse Wishart Distribution

• Jun 28, 2017 • Ryan Watson • dirichletRobustPoseGraph   M-Estimator   Switchable Constraints   Mixture Model   Dirichlet Process  

  Comparison of Max-Mix Bayesian Mixture Model to M-Estimators

• Jun 26, 2017 • Ryan Watson • dirichletRobustPoseGraph   Density Estimation   Mixture Model   Dirichlet Process  

  Continued Testing On Manhattan 3500

• Jun 15, 2017 • Ryan Watson • dirichletRobustPoseGraph   Density Estimation   Mixture Model   Dirichlet Process  

  Initial Testing of Bayes Mixture Model with Dirichlet Process

• Jun 14, 2017 • Ryan Watson • dirichletRobustPoseGraph   Dirichlet   Density Estimation   Mixture Model  

  Dirichlet Process Mixture Model

• Jun 7, 2017 • Ryan Watson • dirichletRobustPoseGraph   Density Estimation   Gausian Mixture Model   Dirichlet Process  

  Density Estimation

• Jun 5, 2017 • Ryan Watson • dirichletRobustPoseGraph   m-estimator  

  Testing Sensitivity of M-Estimator to Kernel Width -- Continued

• Jun 2, 2017 • Ryan Watson • dirichletRobustPoseGraph   m-estimator  

  Testing Sensitivity of M-Estimator to Kernel Width

• May 25, 2017 • Ryan Watson • dirichletRobustPoseGraph   covariance   switchable constraints  

  Covariance Estimation With Switchable Constraints --- Continued

• May 24, 2017 • Ryan Watson • dirichletRobustPoseGraph   covariance   switchable constraints  

  Covariance Estimation With Switchable Constraints

• May 23, 2017 • Ryan Watson • dirichletRobustPoseGraph   covariance   m-estimator   adaptive m-estimator   isam  

  M-estimator affect on covariance --- continued

• May 22, 2017 • Ryan Watson • dirichletRobustPoseGraph   covariance   m-estimator  

  M-estimator affect on covariance

• May 19, 2017 • Ryan Watson • dirichletRobustPoseGraph   dcs   switchable constraint  

  Continue Testing DCS and SF

• May 18, 2017 • Ryan Watson • dirichletRobustPoseGraph   rrr   dcs   switchable constraint  

  DCS Vs. SF & Inital Testing of RRR

• May 17, 2017 • Ryan Watson • dirichletRobustPoseGraph   max-mixtures   switchable constraint  

  Testing Robust Noise Models --- Continued

• May 16, 2017 • Ryan Watson • dirichletRobustPoseGraph   m-estimator   dcs   switchable constraint   rrr  

  Testing Robust Noise Models

• May 15, 2017 • Ryan Watson • dirichletRobustPoseGraph   data generation   switchable constraint  

  Data Generation & Initial Testing