Related papers: A Recursive Least Square Method for 3D Pose Graph …

The pose graph is a core component of Structure-from-Motion (SfM), where images act as nodes and edges encode relative poses. Since geometric verification is expensive, SfM pipelines restrict the pose graph to a sparse set of candidate…

Image retargeting aims at altering an image size while preserving important content and minimizing noticeable distortions. However, previous image retargeting methods create outputs that suffer from artifacts and distortions. Besides, most…

Optimization problems with norm-bounding constraints arise in a variety of applications, including portfolio optimization, machine learning, and feature selection. A common approach to these problems involves relaxing the norm constraint…

For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…

First-order methods for stochastic optimization have undeniable relevance, in part due to their pivotal role in machine learning. Variance reduction for these algorithms has become an important research topic. In contrast to common…

Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but in order to scale SLAM to the setting of "lifelong" SLAM, particularly under memory or computation constraints, a robot must be able to…

Distributed pose graph optimization (DPGO) is one of the fundamental techniques of swarm robotics. Currently, the sub-problems of DPGO are built on the native poses. Our validation proves that this approach may introduce an imbalance in the…

This paper presents an approach for improving 2D/3D pelvis registration in optimization-based pose estimators using a learned initialization function. Current methods often fail to converge to the optimal solution when initialized naively.…

The graduated optimization approach, also known as the continuation method, is a popular heuristic to solving non-convex problems that has received renewed interest over the last decade. Despite its popularity, very little is known in terms…

We consider the problem of minimizing a high-dimensional objective function, which may include a regularization term, using (possibly noisy) evaluations of the function. Such optimization is also called derivative-free, zeroth-order, or…

Phase retrieval is the problem of reconstructing images from magnitude-only measurements. In many real-world applications the problem is underdetermined. When training data is available, generative models allow optimization in a…

Gradient Descent (GD) approximators often fail in the solution space with multiple scales of convexities, i.e., in subspace learning and neural network scenarios. To handle that, one solution is to run GD multiple times from different…

Inverse problems arise in a wide spectrum of applications in fields ranging from engineering to scientific computation. Connected with the rise of interest in inverse problems is the development and analysis of regularization methods, such…

This paper introduces Dr-PoGO, a method for Simultaneous Localization And Mapping (SLAM) using a 2D spinning radar. Unlike cameras or lidars that require line-of-sight, millimetre-wave radars can `see' through dust, falling snow, rain, etc.…

We propose two novel approaches to the recovery of an (approximately) sparse signal from noisy linear measurements in the case that the signal is a priori known to be non-negative and obey given linear equality constraints, such as simplex…

We consider the problem of reconstructing rank-one matrices from random linear measurements, a task that appears in a variety of problems in signal processing, statistics, and machine learning. In this paper, we focus on the Alternating…

Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…

The design and optimization of radiofrequency-wave systems for fusion applications is often performed using ray-tracing codes, which rely on the geometrical-optics (GO) approximation. However, GO fails at wave cutoffs and caustics. To…

Reconstructing accurate surfaces with radiance fields has progressed rapidly, yet two promising explicit representations, 3D Gaussian Splatting and sparse-voxel rasterization, exhibit complementary strengths and weaknesses. 3D Gaussian…

We consider the problem of finding a sparse solution for an underdetermined linear system of equations when the known parameters on both sides of the system are subject to perturbation. This problem is particularly relevant to…