Related papers: Pose Graph Optimization in the Complex Domain: Lag…
Two-view relative pose estimation and structure reconstruction is a classical problem in computer vision. The typical methods usually employ the singular value decomposition of the essential matrix to get multiple solutions of the relative…
This paper provides a theoretical and numerical investigation of a penalty decomposition scheme for the solution of optimization problems with geometric constraints. In particular, we consider some situations where parts of the constraints…
This paper considers stochastic optimization problems with weakly convex objective and constraint functions. We propose Prox-PEP, a proximal method equipped with quadratic subproblems. To handle nonlinear equality constraints, we employ an…
In multi-objective optimization, minimizing the worst objective can be preferable to minimizing the average objective, as this ensures improved fairness across objectives. Due to the non-smooth nature of the resultant min-max optimization…
A stochastic linear quadratic (LQ) optimal control problem with a pointwise linear equality constraint on the terminal state is considered. A strong Lagrangian duality theorem is proved under a uniform convexity condition on the cost…
In this paper we present the first fast optimality certifier for the non-minimal version of the Relative Pose problem for calibrated cameras from epipolar constraints. The proposed certifier is based on Lagrangian duality and relies on a…
We propose a new fast algorithm for solving one of the standard approaches to ill-posed linear inverse problems (IPLIP), where a (possibly non-smooth) regularizer is minimized under the constraint that the solution explains the observations…
By exploiting double-penalty terms for the primal subproblem, we develop a novel relaxed augmented Lagrangian method for solving a family of convex optimization problems subject to equality or inequality constraints. The method is then…
There are many important practical optimization problems whose feasible regions are not known to be nonempty or not, and optimizers of the objective function with the least constraint violation prefer to be found. A natural way for dealing…
We consider the problem of matrix completion with graphs as side information depicting the interrelations between variables. The key challenge lies in leveraging the similarity structure of the graph to enhance matrix recovery. Existing…
By applying the perturbation function approach, we propose the Lagrangian and the conjugate duals for minimization problems of the sum of two, generally nonconvex, functions. The main tools are the $\Phi$-convexity theory and minimax…
We present a novel Riemannian approach for planar pose graph optimization problems. By formulating the cost function based on the Riemannian metric on the manifold of dual quaternions representing planar motions, the nonlinear structure of…
We propose a new first-order primal-dual optimization framework for a convex optimization template with broad applications. Our optimization algorithms feature optimal convergence guarantees under a variety of common structure assumptions…
Factor graphs are a very powerful graphical representation, used to model many problems in robotics. They are widely spread in the areas of Simultaneous Localization and Mapping (SLAM), computer vision, and localization. In this paper we…
We prove a general result demonstrating the power of Lagrangian relaxation in solving constrained maximization problems with arbitrary objective functions. This yields a unified approach for solving a wide class of {\em subset selection}…
We prove sufficient and necessary conditions ensuring zero duality gap for Lagrangian duality in some classes of nonconvex optimization problems. To this aim, we use the $\Phi$-convexity theory and minimax theorems for $\Phi$-convex…
Many inverse and parameter estimation problems can be written as PDE-constrained optimization problems. The goal, then, is to infer the parameters, typically coefficients of the PDE, from partial measurements of the solutions of the PDE for…
A polynomial optimization problem (POP) consists of minimizing a multivariate real polynomial on a semi-algebraic set $K$ described by polynomial inequalities and equations. In its full generality it is a non-convex, multi-extremal,…
In this paper we consider a hierarchical pose graph optimization (HPGO) for Simultaneous Localization and Mapping (SLAM). We propose a fast incremental procedure for building hierarchy levels in pose graphs. We study the properties of this…
Given a dissimilarity matrix, the metric nearness problem is to find the nearest matrix of distances that satisfy the triangle inequalities. This problem has wide applications, such as sensor networks, image processing, and so on. But it is…