Related papers: Matrix Difference in Pose-Graph Optimization
In regression analysis for deriving scaling laws that occur in various scientific disciplines, usually standard regression methods have been applied, of which ordinary least squares (OLS) is the most popular. In many situations, the…
Estimation of a precision matrix (i.e., inverse covariance matrix) is widely used to exploit conditional independence among continuous variables. The influence of abnormal observations is exacerbated in a high dimensional setting as the…
In this paper we propose a convex Sum-of-Squares optimization problem for finding outer approximations of forward reachable sets for nonlinear uncertain Ordinary Differential Equations (ODE's) with either (or both) L2 or point-wise bounded…
While generalizable 3D Gaussian splatting enables efficient, high-quality rendering of unseen scenes, it heavily depends on precise camera poses for accurate geometry. In real-world scenarios, obtaining accurate poses is challenging,…
Unlike loose coupling approaches and the EKF-based approaches in the literature, we propose an optimization-based visual-inertial SLAM tightly coupled with raw Global Navigation Satellite System (GNSS) measurements, a first attempt of this…
In this paper, we propose a successive pseudo-convex approximation algorithm to efficiently compute stationary points for a large class of possibly nonconvex optimization problems. The stationary points are obtained by solving a sequence of…
Pose graph relaxation has become an indispensable addition to SLAM enabling efficient global registration of sensor reference frames under the objective of satisfying pair-wise relative transformation constraints. The latter may be given by…
We study the problem of estimating low-rank matrices from linear measurements (a.k.a., matrix sensing) through nonconvex optimization. We propose an efficient stochastic variance reduced gradient descent algorithm to solve a nonconvex…
Geodesic distance serves as a reliable means of measuring distance in nonlinear spaces, and such nonlinear manifolds are prevalent in the current multimodal learning. In these scenarios, some samples may exhibit high similarity, yet they…
We consider the simultaneous deblurring of a set of noisy images whose point spread functions are different but known and spatially invariant, and the noise is Gaussian. Currently available iterative algorithms that are typically used for…
We consider the problem of optimizing the sum of a smooth, nonconvex function for which derivatives are unavailable, and a convex, nonsmooth function with easy-to-evaluate proximal operator. Of particular focus is the case where the smooth…
A key component of Visual Simultaneous Localization and Mapping (VSLAM) is estimating relative camera poses using matched keypoints. Accurate estimation is challenged by noisy correspondences. Classical methods rely on stochastic hypothesis…
LiDAR odometry can achieve accurate vehicle pose estimation for short driving range or in small-scale environments, but for long driving range or in large-scale environments, the accuracy deteriorates as a result of cumulative estimation…
In this paper, we consider a modified projected Gauss-Newton method for solving constrained nonlinear least-squares problems. We assume that the functional constraints are smooth and the the other constraints are represented by a simple…
We study a class of optimization problems including matrix scaling, matrix balancing, multidimensional array scaling, operator scaling, and tensor scaling that arise frequently in theory and in practice. Some of these problems, such as…
Covariance matrix reconstruction has been the most widely used guiding objective in gridless direction-of-arrival (DoA) estimation for sparse linear arrays. Many semidefinite programming (SDP)-based methods fall under this category.…
Adaptivity is an important yet under-studied property in modern optimization theory. The gap between the state-of-the-art theory and the current practice is striking in that algorithms with desirable theoretical guarantees typically involve…
State-space smoothing has found many applications in science and engineering. Under linear and Gaussian assumptions, smoothed estimates can be obtained using efficient recursions, for example Rauch-Tung-Striebel and Mayne-Fraser algorithms.…
Recent numerical experiments have demonstrated that the choice of optimization geometry used during training can impact generalization performance when learning expressive nonlinear model classes such as deep neural networks. These…
We give the first polynomial-time algorithm for performing linear or polynomial regression resilient to adversarial corruptions in both examples and labels. Given a sufficiently large (polynomial-size) training set drawn i.i.d. from…