Related papers: A Recursive Least Square Method for 3D Pose Graph …
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
To provide backup and augmentation to global navigation satellite system (GNSS), Doppler shift from Low Earth Orbit (LEO) satellites can be employed as signals of opportunity (SOP) for position, navigation and timing (PNT). Since the…
Traditional mathematical programming solvers require long computational times to solve constrained minimization problems of complex and large-scale physical systems. Therefore, these problems are often transformed into unconstrained ones,…
The L1 norm regularized least squares method is often used for finding sparse approximate solutions and is widely used in 1-D signal restoration. Basis pursuit denoising (BPD) performs noise reduction in this way. However, the shortcoming…
The least-absolute shrinkage and selection operator (LASSO) is a regularization technique for estimating sparse signals of interest emerging in various applications and can be efficiently solved via the alternating direction method of…
We study a generalized framework for structured sparsity. It extends the well-known methods of Lasso and Group Lasso by incorporating additional constraints on the variables as part of a convex optimization problem. This framework provides…
The problem of least squares regression of a $d$-dimensional unknown parameter is considered. A stochastic gradient descent based algorithm with weighted iterate-averaging that uses a single pass over the data is studied and its convergence…
The layout of acoustic emission sensors plays a critical role in non-destructive structural testing. This study proposes a grid-based optimization method focused on multi-source location results, in contrast to traditional sensor layout…
We present a new algorithm and the corresponding convergence analysis for the regularization of linear inverse problems with sparsity constraints, applied to a new generalized sparsity promoting functional. The algorithm is based on the…
We introduce Tempered Geodesic Markov Chain Monte Carlo (TG-MCMC) algorithm for initializing pose graph optimization problems, arising in various scenarios such as SFM (structure from motion) or SLAM (simultaneous localization and mapping).…
The detection and estimation of gravitational wave (GW) signals belonging to a parameterized family of waveforms requires, in general, the numerical maximization of a data-dependent function of the signal parameters. Due to noise in the…
Most existing visual-inertial odometry (VIO) initialization methods rely on accurate pre-calibrated extrinsic parameters. However, during long-term use, irreversible structural deformation caused by temperature changes, mechanical…
We present an efficient incremental SLAM back-end that achieves the accuracy of full batch optimization while substantially reducing computational cost. The proposed approach combines two complementary ideas: information-guided gating (IGG)…
We develop a primal dual active set with continuation algorithm for solving the \ell^0-regularized least-squares problem that frequently arises in compressed sensing. The algorithm couples the the primal dual active set method with a…
The generalized orthogonal Procrustes problem (GOPP) plays a fundamental role in several scientific disciplines including statistics, imaging science and computer vision. Despite its tremendous practical importance, it is generally an…
Sensors producing 3D point clouds such as 3D laser scanners and RGB-D cameras are widely used in robotics, be it for autonomous driving or manipulation. Aligning point clouds produced by these sensors is a vital component in such…
We propose a multi-swarm approach to approximate the Pareto front of general multi-objective optimization problems that is based on the Consensus-based Optimization method (CBO). The algorithm is motivated step by step beginning with a…
Orthogonal group synchronization is the problem of estimating $n$ elements $Z_1, \ldots, Z_n$ from the $r \times r$ orthogonal group given some relative measurements $R_{ij} \approx Z_i^{}Z_j^{-1}$. The least-squares formulation is…
Logan's graphical analysis (LGA) is a widely-used approach for quantification of biochemical and physiological processes from Positron emission tomography (PET) image data. A well-noted problem associated with the LGA method is the bias in…
The 2D phase unwrapping problem seeks to recover a phase image from its observation modulo 2$\pi$, and is a crucial step in a variety of imaging applications. In particular, it is one of the most time-consuming steps in the interferometric…