Mind the Gap: An Experimental Evaluation of Imputation of Missing Values Techniques in Time Series

Summary: A broad, uniform benchmark re-implements and evaluates 12 time-series missing-block imputation methods across 10 diverse sensor datasets. It exposes use-case-dependent strengths and weaknesses, recommends techniques, and identifies gaps for future algorithm development. (summarized by gpt-5.6-luna on Jul 24 2026)

Paper ID: h74861f8e1cbd357f
Venue: VLDB
Year: 2020
Pagerank: 8.2507594e-05
Overall Rank: 2,589 | 82.60%
DOI: 10.14778/3377369.3377383

Incoming Non-self Citations Over Time

Authors

1. Mourad Khayati (University of Freiburg)
2. Alberto Lerner (University of Freiburg)
3. Zakhar Tymchenko (University of Freiburg)
4. Philippe Cudré-Mauroux (University of Freiburg)

BibTeX Citation

@article{khayati_vldb20,
        title = {{Mind the Gap: An Experimental Evaluation of Imputation of Missing Values Techniques in Time Series}},
        author = {Khayati, Mourad and Lerner, Alberto and Tymchenko, Zakhar and Cudré-Mauroux, Philippe},
        journal = {PVLDB},
        series = {{VLDB} '20},
        volume = {13},
        number = {5},
        pages = {768--782},
        doi = {10.14778/3377369.3377383},
        url = {https://doi.org/10.14778/3377369.3377383},
        year = {2020}
}

Incoming Citations (Sorted by Pagerank)

Showing 16 of 16 citing papers.

Rank	Citing Paper	Year	Venue	Pagerank
4,131	Missing Value Imputation on Multidimensional Time Series	2021	VLDB	6.788827e-05
6,551	ORBITS: Online Recovery of Missing Values in Multiple Time Series Streams	2021	VLDB	5.750302e-05
8,003	Missing Value Imputation for Multi-attribute Sensor Data Streams via Message Propagation	2024	VLDB	5.4091136e-05
8,026	TSM-Bench: Benchmarking Time Series Database Systems for Monitoring Applications	2023	VLDB	5.4045222e-05
9,077	A Multi-Scale Decomposition MLP-Mixer for Time Series Analysis	2024	VLDB	5.2283159e-05
9,455	ZIP: Lazy Imputation during Query Processing	2024	VLDB	5.1735482e-05
9,573	ImputeVIS: An Interactive Evaluator to Benchmark Imputation Techniques for Time Series Data	2024	VLDB	5.1571823e-05
10,181	In-Database Data Imputation	2024	SIGMOD	5.0653015e-05
10,743	MH-GIN: Multi-scale Heterogeneous Graph-based Imputation Network for AIS Data	2026	VLDB	4.9793485e-05
11,003	ImputePilot: A Graphical Model Selection Toolkit for Time Series Imputation	2026	VLDB	4.9793485e-05
11,363	DIM-SUM: Dynamic Imputation for Smart Utility Management	2025	VLDB	4.9793485e-05
11,403	TARImpute: Task-Aware auto-Recommender System for Missing Value Imputation Algorithms with Clustering Case Studies	2025	VLDB	4.9793485e-05
11,602	Hardware-Efficient Data Imputation through DBMS Extensibility	2024	VLDB	4.9793485e-05
11,738	Splitting Tuples of Mismatched Entities	2023	SIGMOD	4.9793485e-05
11,847	Scalable Time Series Compound Infrastructure	2022	SIGMOD	4.9793485e-05
12,036	LOCATER: Cleaning WiFi Connectivity Datasets for Semantic Localization	2021	VLDB	4.9793485e-05

Outgoing Citations (Sorted by Pagerank)

Showing 8 of 8 cited papers.

Citations counted here include only citations to other VLDB/SIGMOD/CIDR/PODS papers in this database.

Rank	Cited Paper	Year	Venue	Pagerank
547	ERACER: A Database Approach for Statistical Inference and Data Cleaning	2010	SIGMOD	0.00016578131
911	Adaptive Stream Resource Management Using Kalman Filters	2004	SIGMOD	0.00013115833
1,278	Streaming Pattern Discovery in Multiple Time-Series	2005	VLDB	0.00011231952
2,239	Query Optimization for Dynamic Imputation	2017	VLDB	8.7745792e-05
2,568	Locality-Sensitive Hashing for Earthquake Detection: A Case Study of Scaling Data-Driven Science	2018	VLDB	8.2870435e-05
3,513	Scalable, Variable-Length Similarity Search in Data Series: The ULISSE Approach	2018	VLDB	7.2438813e-05
4,784	Matrix Profile IV: Using Weakly Labeled Time Series to Predict Outcomes	2017	VLDB	6.4158103e-05
13,067	Fast Algorithms for Time Series with applications to Finance, Physics, Music, Biology, and other Suspects	2004	SIGMOD	4.9793485e-05

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#	Overall Rank	Paper	Year	Venue
1	2,239	Query Optimization for Dynamic Imputation	2017	VLDB
2	11,294	Still More Shades of Null: An Evaluation Suite for Responsible Missing Value Imputation	2025	VLDB
3	10,181	In-Database Data Imputation	2024	SIGMOD
4	6,775	Missing Data Imputation with Uncertainty-Driven Network	2024	SIGMOD
5	11,514	Certain and Approximately Certain Models for Statistical Learning	2024	SIGMOD
6	6,551	ORBITS: Online Recovery of Missing Values in Multiple Time Series Streams	2021	VLDB
7	11,003	ImputePilot: A Graphical Model Selection Toolkit for Time Series Imputation	2026	VLDB
8	4,131	Missing Value Imputation on Multidimensional Time Series	2021	VLDB
9	9,573	ImputeVIS: An Interactive Evaluator to Benchmark Imputation Techniques for Time Series Data	2024	VLDB
10	8,003	Missing Value Imputation for Multi-attribute Sensor Data Streams via Message Propagation	2024	VLDB