The false nearest neighbors (FNN) method estimates the variables of a system by sequentially embedding a time series into a higher-dimensional delay coordinate system and finding an embedding dimension in which the neighborhood of the delay coordinate vector in the lower dimension does not extend into the higher, that is, a dimension in which no false neighbors or neighborhoods exist. However, the FNN method requires an arbitrary threshold value to distinguish false neighborhoods, which must be considered each time for each time series to be analyzed. In this study, we propose a robust method to estimate the minimum embedding dimension, which eliminates the arbitrariness of threshold selection. We applied the proposed approach to the van der Pol and Lorenz equations as representative examples of chaotic time series. The results verified the accuracy of the proposed variable estimation method, which showed a lower error rate compared to the minimum dimension estimates for most of the thresholding intervals set by the FNN method.