Related papers: SE-Sync: A Certifiably Correct Algorithm for Synch…
The problem of recovering the configuration of points from their partial pairwise distances, referred to as the Euclidean Distance Matrix Completion (EDMC) problem, arises in a broad range of applications, including sensor network…
The angular synchronization problem of estimating a set of unknown angles from their known noisy pairwise differences arises in various applications. It can be reformulated as a optimization problem on graphs involving the graph Laplacian…
We introduce Cycle-Sync, a robust and global framework for estimating camera poses (both rotations and locations). Our core innovation is a location solver that adapts message-passing least squares (MPLS) -- originally developed for group…
We consider the problem of positioning a cloud of points in the Euclidean space $\mathbb{R}^d$, using noisy measurements of a subset of pairwise distances. This task has applications in various areas, such as sensor network localization and…
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…
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 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…
In synchronization problems, the goal is to estimate elements of a group from noisy measurements of their ratios. A popular estimation method for synchronization is the spectral method. It extracts the group elements from eigenvectors of a…
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…
We consider a class of stochastic smooth convex optimization problems under rather general assumptions on the noise in the stochastic gradient observation. As opposed to the classical problem setting in which the variance of noise is…
Given the noisy pairwise measurements among a set of unknown group elements, how to recover them efficiently and robustly? This problem, known as group synchronization, has drawn tremendous attention in the scientific community. In this…
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…
This paper presents a novel nonlinear pose filter evolved directly on the Special Euclidean Group SE(3) with guaranteed characteristics of transient and steady-state performance. The above-mention characteristics can be achieved by trapping…
Simultaneous localization and tracking (SLAT) in sensor networks aims to determine the positions of sensor nodes and a moving target in a network, given incomplete and inaccurate range measurements between the target and each of the…
Quantifying the uncertainty of an object's pose estimate is essential for robust control and planning. Although pose estimation is a well-studied robotics problem, attaching statistically rigorous uncertainty is not well understood without…
We consider a symmetric mixture of linear regressions with random samples from the pairwise comparison design, which can be seen as a noisy version of a type of Euclidean distance geometry problem. We analyze the expectation-maximization…
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 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…
The Procrustes matching (PM) problem is the problem of finding the optimal rigid motion and labeling of two point sets so that they are as close as possible. Both rigid and non-rigid shape matching problems can be formulated as PM problems.…
We study the problem of recovering a globally consistent Euclidean embedding of data, given only a local distance graph and propose a method that optimally represents these distances. The method operates solely on a neighborhood graph…