We present CLIPPER (Consistent LInking, Pruning, and Pairwise Error Rectification), a framework for robust data association in the presence of noise and outliers. We formulate the problem in a graph-theoretic framework using the notion of geometric consistency. State-of-the-art techniques that use this framework utilize either combinatorial optimization techniques that do not scale well to large-sized problems, or use heuristic approximations that yield low accuracy in high-noise, high-outlier regimes. In contrast, CLIPPER uses a relaxation of the combinatorial problem and returns solutions that are guaranteed to correspond to the optima of the original problem. Low time complexity is achieved with an efficient projected gradient ascent approach. Experiments indicate that CLIPPER maintains a consistently low runtime of 15 ms where exact methods can require up to 24 s at their peak, even on small-sized problems with 200 associations. When evaluated on noisy point cloud registration problems, CLIPPER achieves 100% precision and 98% recall in 90% outlier regimes while competing algorithms begin degrading by 70% outliers. In an instance of associating noisy points of the Stanford Bunny with 990 outlier associations and only 10 inlier associations, CLIPPER successfully returns 8 inlier associations with 100% precision in 138 ms.

中文翻译：

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CLIPPER：健壮数据关联的图论框架

我们提出了CLIPPER（一致行进，修剪和成对错误纠正），这是在存在噪声和异常值的情况下实现健壮数据关联的框架。我们使用几何一致性的概念在图论框架中提出问题。使用此框架的最新技术要么无法很好地解决大型问题，要么使用组合优化技术，或者使用启发式近似法在高噪声，高异常值区域中产生较低的准确性。相反，CLIPPER使用组合问题的松弛，并返回可以保证与原始问题的最优相对应的解决方案。通过有效的投影梯度上升方法可以实现较低的时间复杂度。实验表明，CLIPPER始终保持15毫秒的低运行时间，在这种情况下，即使在具有200个关联的小型问题上，精确的方法在其峰值处也可能需要长达24 s的时间。对嘈杂的点云注册问题进行评估时，CLIPPER在90％的异常情况下可实现100％的精度和98％的召回率，而竞争算法则开始降低70％的异常值。在将Stanford Bunny的噪声点与990个离群关联和仅10个离群关联相关联的情况下，CLIPPER在138毫秒内成功返回了100个精度为100的8个离群关联。CLIPPER在90％的异常情况下可实现100％的精度和98％的查全率，而竞争算法开始降低70％的异常值。在将Stanford Bunny的噪声点与990个离群关联和仅10个离群关联相关联的情况下，CLIPPER在138毫秒内成功返回了100个精度为100的8个离群关联。CLIPPER在90％的异常情况下可实现100％的精度和98％的查全率，而竞争算法开始降低70％的异常值。在将Stanford Bunny的噪声点与990个离群关联和仅10个离群关联相关联的情况下，CLIPPER在138毫秒内成功返回了100个精度为100的8个离群关联。