Nonparametric estimators of the bivariate survival function under random censoring

A large number of proposals for estimating the bivariate survival function under random censoring have been made. In this paper we discuss the most prominent estimators, where prominent is meant in the sense that they are best for practical use; Dabrowska's estimator, the Prentice–Cai estimator, Pruitt's modified EM-estimator, and the reduced data NPMLE of van der Laan. We show how these estimators are computed and present their intuitive background. The asymptotic results are summarized. Furthermore, we give a summary of the practical performance of the estimators under different levels of dependence and censoring based on extensive simulation results. This leads also to a practical advise.