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The multireference alignment problem consists of estimating a signal from multiple noisy shifted observations. Inspired by existing Unique-Games approximation algorithms, we provide a semidefinite program (SDP) based relaxation which…
We design improved approximation algorithms for NP-hard graph problems by incorporating predictions (e.g., learned from past data). Our prediction model builds upon and extends the $\varepsilon$-prediction framework by Cohen-Addad, d'Orsi,…
A key component of Visual Simultaneous Localization and Mapping (VSLAM) is estimating relative camera poses using matched keypoints. Accurate estimation is challenged by noisy correspondences. Classical methods rely on stochastic hypothesis…
Analyzing high-dimensional data with manifold learning algorithms often requires searching for the nearest neighbors of all observations. This presents a computational bottleneck in statistical manifold learning when observations of…
Gridless methods show great superiority in line spectral estimation. These methods need to solve an atomic $l_0$ norm (i.e., the continuous analog of $l_0$ norm) minimization problem to estimate frequencies and model order. Since this…
This paper provides a construction method of the nearest graph Laplacian to a matrix identified from measurement data of graph Laplacian dynamics that include biochemical systems, synchronization systems, and multi-agent systems. We…
Estimating the location and orientation of humans is an essential skill for service and assistive robots. To achieve a reliable estimation in a wide area such as an apartment, multiple RGBD cameras are frequently used. Firstly, these setups…
Localization of a set of nodes is an important and a thoroughly researched problem in robotics and sensor networks. This paper is concerned with the theory of localization from inner-angle measurements. We focus on the challenging case…
We consider the range-based localization problem, which involves estimating an object's position by using $m$ sensors, hoping that as the number $m$ of sensors increases, the estimate converges to the true position with the minimum…
Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…
Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, simultaneous localization and mapping, robot-sensor…
In the Upper Degree-Constrained Partial Orientation problem we are given an undirected graph $G=(V,E)$, together with two degree constraint functions $d^-,d^+ : V \to \mathbb{N}$. The goal is to orient as many edges as possible, in such a…
We study recovery of piecewise-constant signals on graphs by the estimator minimizing an $l_0$-edge-penalized objective. Although exact minimization of this objective may be computationally intractable, we show that the same statistical…
From molecular imaging to wireless communications, the ability to align and reconstruct signals from multiple misaligned observations is crucial for system performance. We study the problem of multi-reference alignment (MRA), which arises…
In this paper, we introduce a general framework for analyzing the numerical conditioning of minimal problems in multiple view geometry, using tools from computational algebra and Riemannian geometry. Special motivation comes from the fact…
We study the problem of estimating a vertex's PageRank within a constant relative error, with constant probability. We prove that an adaptive variant of the simple classic bidirectional algorithm is instance-optimal up to a polylogarithmic…
We consider the problem of consistently matching multiple sets of elements to each other, which is a common task in fields such as computer vision. To solve the underlying NP-hard objective, existing methods often relax or approximate it,…
Rotation Averaging is a non-convex optimization problem that determines orientations of a collection of cameras from their images of a 3D scene. The problem has been studied using a variety of distances and robustifiers. The intrinsic (or…
We study how to utilize (possibly erroneous) predictions in a model for computing under uncertainty in which an algorithm can query unknown data. Our aim is to minimize the number of queries needed to solve the minimum spanning tree…
Pose Graph Optimization (PGO) is the problem of estimating a set of poses from pairwise relative measurements. PGO is a nonconvex problem, and currently no known technique can guarantee the computation of an optimal solution. In this paper,…