Related papers: Matrix Difference in Pose-Graph Optimization
Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing…
Robustness, domain adaptation, photometric/occlusion invariance, sensor drift, and alignment style are treated as separate literatures with separate method families. Under label-preserving deployment shift they share one geometric object:…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
A general stochastic algorithm for solving mixed linear and nonlinear problems was introduced in [11]. We show in this paper how it can be used to solve the fault inverse problem, where a planar fault in elastic half-space and a slip on…
Algorithms for minimal enclosing ball problems are often geometric in nature. To highlight the metric ingredients underlying their efficiency, we focus here on a particularly simple geodesic-based method. A recent subgradient-based study…
We study randomized sketching methods for approximately solving least-squares problem with a general convex constraint. The quality of a least-squares approximation can be assessed in different ways: either in terms of the value of the…
We propose a novel approach for fast and accurate stereo visual Simultaneous Localization and Mapping (SLAM) independent of feature detection and matching. We extend monocular Direct Sparse Odometry (DSO) to a stereo system by optimizing…
We propose a randomized second-order method for optimization known as the Newton Sketch: it is based on performing an approximate Newton step using a randomly projected or sub-sampled Hessian. For self-concordant functions, we prove that…
Inferring the posterior distribution in SLAM is critical for evaluating the uncertainty in localization and mapping, as well as supporting subsequent planning tasks aiming to reduce uncertainty for safe navigation. However, real-time full…
We consider minimization of a smooth nonconvex objective function using an iterative algorithm based on Newton's method and the linear conjugate gradient algorithm, with explicit detection and use of negative curvature directions for the…
Many computer vision applications require robust and efficient estimation of camera geometry from a minimal number of input data measurements, i.e., solving minimal problems in a RANSAC framework. Minimal problems are usually formulated as…
3D Gaussian Splatting algorithms excel in novel view rendering applications and have been adapted to extend the capabilities of traditional SLAM systems. However, current Gaussian Splatting SLAM methods, designed mainly for hand-held RGB or…
Iterative methods for fitting a Gaussian Random Field (GRF) model via maximum likelihood (ML) estimation requires solving a nonconvex optimization problem. The problem is aggravated for anisotropic GRFs where the number of covariance…
This paper introduces a novel optimization algorithm designed for nonlinear least-squares problems. The method is derived by preconditioning the gradient descent direction using the Singular Value Decomposition (SVD) of the Jacobian. This…
In this paper we generalize the technique of deflation to define two new methods to systematically find many local minima of a nonlinear least squares problem. The methods are based on the Gauss-Newton algorithm, and as such do not require…
Skew-symmetric functions are a class of functions defined on a product space $M \times M$ that are antisymmetric with respect to the order of their inputs. In [13], the authors proved that non-deterministic skew-symmetric Gaussian fields…
Sum of squares (SOS) optimization is a powerful technique for solving problems where the positivity of a polynomials must be enforced. The common approach to solve an SOS problem is by relaxation to a Semidefinite Program (SDP). The main…
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…
Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single model. Still, they struggle due to environmental…
Recently, Gaussian splatting has emerged as a strong alternative to NeRF, demonstrating impressive 3D modeling capabilities while requiring only a fraction of the training and rendering time. In this paper, we show how the standard Gaussian…