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Incorrect GemanMcClure robust model #127

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varunagrawal opened this issue Oct 2, 2019 · 2 comments
Closed

Incorrect GemanMcClure robust model #127

varunagrawal opened this issue Oct 2, 2019 · 2 comments
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Description

The GemanMcClure robust error model has an incorrect implementation when it comes to the general form. As per Pratik Agarwal's thesis, the form of the estimator should be

(1/2) * (x*x) / (1 + (x/c)*(x/c))

but the current implementation is

(c*c) / (1 + (x/c)*(x/c))

having the incorrect numerator and missing the 0.5 constant.

This issue has not been caught because the test case uses c=1.0 which masks this error.

Steps to reproduce

  1. Compare implementation to Pratik Agarwal's thesis.

Expected behavior

Environment

Additional information
@varunagrawal varunagrawal added the bug Bug report label Oct 2, 2019
@varunagrawal varunagrawal self-assigned this Oct 2, 2019
@varunagrawal
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@dellaert can you please confirm this bug?

@varunagrawal
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Nevermind. I was misled by an error in this paper.

varunagrawal added a commit that referenced this issue Oct 25, 2021
@varunagrawal
Squashed 'wrap/' changes from d6350c214..0ab10c359
c195bb5 
0ab10c359 Fix pyparsing version and replace `create_symlinks` with `copy_directory` (#128)
230a3c967 Merge pull request #127 from borglab/feature/template-instantiator
cc7d9a8b4 breakdown template instantiator into smaller submodules
59536220a Merge pull request #126 from borglab/feature/instantiation-tests
7ee715ecc add type info to template_instantiator
b367ed93d tests for InstantiationHelper
e41cfd50e tests for InstantiatedGlobalFunction
1837982a7 tests for InstantiatedClass
a7e3678a3 tests for InstantiatedStaticMethod
da06c53f7 tests for InstantiatedMethod
c645c143c tests for InstantiatedConstructor
b8a046267 tests for InstantiatedDeclaration
af80c9d04 finish all tests for namespace level instantiation
d6085c37a add tests for high level template instantiation
f7ae91346 add docs and utility method
d90abb52b Merge pull request #125 from borglab/feature/templated-static
58cdab20d clean up
247cea727 add helper for multilevel instantiation
761f588e4 update tests
81e5d5d19 update pybind wrapper to use new way
96d1575d8 streamlined way of instantiating template for class methods
1e4e88799 add to_cpp method for Method
485d43138 add the test fixtures
8cb943635 support instantiation of static method templates
84ef6679b add template to static method parser

git-subtree-dir: wrap
git-subtree-split: 0ab10c359a6528def20eddc60aced74a04250419
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