TSBP: Tangent Space Belief Propagation for Manifold Learning

Thomas Cohn, Odest Chadwicke Jenkins, Karthik Desingh, Zhen Zeng, Thomas Cohn

Research output: Contribution to journalArticlepeer-review


We present Tangent Space Belief Propagation (TSBP) as a method for graph denoising to improve the robustness of manifold learning algorithms. Dimension reduction by manifold learning relies heavily on the accurate selection of nearest neighbors, which has proven an open problem for sparse and noisy datasets. TSBP uses global nonparametric belief propagation to accurately estimate the tangent spaces of the underlying manifold at each data point. Edges of the neighborhood graph that deviate from the tangent spaces are then removed. The resulting denoised graph can then be embedded into a lower-dimensional space using methods from existing manifold learning algorithms. Artificially generated manifold data, simulated sensor data from a mobile robot, and high dimensional tactile sensory data are used to demonstrate the efficacy of our TSBP method.

Original languageEnglish (US)
Article number9166624
Pages (from-to)6694-6701
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number4
StatePublished - Oct 2020
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2016 IEEE.


  • Belief propagation
  • manifold learning
  • probability and statistical methods
  • representation learning


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