Related papers: Matrix Difference in Pose-Graph Optimization
In this paper, we propose a new algorithm for recovery of low-rank matrices from compressed linear measurements. The underlying idea of this algorithm is to closely approximate the rank function with a smooth function of singular values,…
The Total Least Squares solution of an overdetermined, approximate linear equation $Ax \approx b$ minimizes a nonlinear function which characterizes the backward error. We show that a globally convergent variant of the Gauss--Newton…
Minimizing a convex function of a measure with a sparsity-inducing penalty is a typical problem arising, e.g., in sparse spikes deconvolution or two-layer neural networks training. We show that this problem can be solved by discretizing the…
Gaussian Processes (GPs) are powerful non-parametric Bayesian models for regression of scalar fields, formulated under the assumption that measurement locations are perfectly known and the corresponding field measurements have Gaussian…
In this paper, we propose a framework based on sum-of-squares programming to design iterative first-order optimization algorithms for smooth and strongly convex problems. Our starting point is to develop a polynomial matrix inequality as a…
State-of-the-art techniques for simultaneous localization and mapping (SLAM) employ iterative nonlinear optimization methods to compute an estimate for robot poses. While these techniques often work well in practice, they do not provide…
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…
This paper proposes several novel optimization algorithms for minimizing a nonlinear objective function. The algorithms are enlightened by the optimal state trajectory of an optimal control problem closely related to the minimized objective…
A novel method for robust estimation, called Graph-Cut RANSAC, GC-RANSAC in short, is introduced. To separate inliers and outliers, it runs the graph-cut algorithm in the local optimization (LO) step which is applied when a so-far-the-best…
This work addresses the robust reconstruction problem of a sparse signal from compressed measurements. We propose a robust formulation for sparse reconstruction which employs the $\ell_1$-norm as the loss function for the residual error and…
Modern LiDAR-SLAM (L-SLAM) systems have shown excellent results in large-scale, real-world scenarios. However, they commonly have a high latency due to the expensive data association and nonlinear optimization. This paper demonstrates that…
We propose a Randomised Subspace Gauss-Newton (R-SGN) algorithm for solving nonlinear least-squares optimization problems, that uses a sketched Jacobian of the residual in the variable domain and solves a reduced linear least-squares on…
An inexact Newton type method for numerical minimization of convex piecewise quadratic functions is considered and its convergence is analyzed. Earlier, a similar method was successfully applied to optimizaton problems arising in numerical…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number of redundant 3D Gaussian…
Wave equation techniques have been an integral part of geophysical imaging workflows to investigate the Earth's subsurface. Least-squares reverse time migration (LSRTM) is a linearized inversion problem that iteratively minimizes a misfit…
A numerical method is proposed to compute a low-rank Galerkin approximation to the solution of a parametric or stochastic equation in a non-intrusive fashion. The considered nonlinear problems are associated with the minimization of a…
A common approach to compute distances on continuous surfaces is by considering a discretized polygonal mesh approximating the surface and estimating distances on the polygon. We show that exact geodesic distances restricted to the polygon…
Geometry processing presents a variety of difficult numerical problems, each seeming to require its own tailored solution. This breadth is largely due to the expansive list of geometric primitives, e.g., splines, triangles, and hexahedra,…
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…