Related papers: A Certifiably Correct Algorithm for Synchronizatio…
An estimation problem of fundamental interest is that of phase synchronization, in which the goal is to recover a collection of phases using noisy measurements of relative phases. It is known that in the Gaussian noise setting, the maximum…
We introduce a new paradigm, $\textit{measure synchronization}$, for synchronizing graphs with measure-valued edges. We formulate this problem as maximization of the cycle-consistency in the space of probability measures over relative…
This work presents ReSync, a Riemannian subgradient-based algorithm for solving the robust rotation synchronization problem, which arises in various engineering applications. ReSync solves a least-unsquared minimization formulation over the…
The group synchronization problem involves estimating a collection of group elements from noisy measurements of their pairwise ratios. This task is a key component in many computational problems, including the molecular reconstruction…
Localizing a cloud of points from noisy measurements of a subset of pairwise distances has applications in various areas, such as sensor network localization and reconstruction of protein conformations from NMR measurements. In [1], Drineas…
We proposed a new criterion \textit{noise-stability}, which revised the classical rigidity theory, for evaluation of MDS algorithms which can truthfully represent the fidelity of global structure reconstruction; then we proved the…
We propose the first general and scalable framework to design certifiable algorithms for robust geometric perception in the presence of outliers. Our first contribution is to show that estimation using common robust costs, such as truncated…
This paper studies an optimization problem on the sum of traces of matrix quadratic forms in $m$ semi-orthogonal matrices, which can be considered as a generalization of the synchronization of rotations. While the problem is nonconvex, the…
We consider the problem of embedding unweighted, directed k-nearest neighbor graphs in low-dimensional Euclidean space. The k-nearest neighbors of each vertex provides ordinal information on the distances between points, but not the…
The multi-reference alignment (MRA) problem entails estimating an image from multiple noisy and rotated copies of itself. If the noise level is low, one can reconstruct the image by estimating the missing rotations, aligning the images, and…
We study the optimization landscape of a smooth nonconvex program arising from synchronization over the two-element group $\mathbf{Z}_2$, that is, recovering $z_1, \dots, z_n \in \{\pm 1\}$ from (noisy) relative measurements $R_{ij} \approx…
We present novel, convex relaxations for rotation and pose estimation problems that can a posteriori guarantee global optimality for practical measurement noise levels. Some such relaxations exist in the literature for specific problem…
In this paper, we introduce a new class of nonsmooth convex functions called SOS-convex semialgebraic functions extending the recently proposed notion of SOS-convex polynomials. This class of nonsmooth convex functions covers many common…
The problem of determining the configuration of points from partial distance information, known as the Euclidean Distance Geometry (EDG) problem, is fundamental to many tasks in the applied sciences. In this paper, we propose two algorithms…
The binary symmetric stochastic block model deals with a random graph of $n$ vertices partitioned into two equal-sized clusters, such that each pair of vertices is connected independently with probability $p$ within clusters and $q$ across…
In this paper, we consider the problem of planar graph-based simultaneous localization and mapping (SLAM) that involves both poses of the autonomous agent and positions of observed landmarks. We present CPL-SLAM, an efficient and…
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…
Establishing reliable image correspondences is essential for many robotic vision problems. However, existing methods often struggle in challenging scenarios with large viewpoint changes or textureless regions, where incorrect cor-…
This paper investigates the optimal ergodic sublinear convergence rate of the relaxed proximal point algorithm for solving monotone variational inequality problems. The exact worst case convergence rate is computed using the performance…
This paper presents a novel hybrid algorithm for minimizing the sum of a continuously differentiable loss function and a nonsmooth, possibly nonconvex, sparse regularization function. The proposed method alternates between solving a…