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In this paper, we present a multi-object 6D detection and tracking pipeline for potentially similar and non-textured objects. The combination of a convolutional neural network for object classification and rough pose estimation with a local…
Neural network quantization is frequently used to optimize model size, latency and power consumption for on-device deployment of neural networks. In many cases, a target bit-width is set for an entire network, meaning every layer get…
This paper proposes new proximal Newton-type methods with a diagonal metric for solving composite optimization problems whose objective function is the sum of a twice continuously differentiable function and a proper closed directionally…
In this paper, we propose first a mmWave channel tracking algorithm based on multidimensional orthogonal matching pursuit algorithm (MOMP) using reduced sparsifying dictionaries, which exploits information from channel estimates in previous…
In this paper, we modify and apply the recently introduced Mixed Newton Method, which is originally designed for minimizing real-valued functions of complex variables, to the minimization of real-valued functions of real variables by…
We describe, study, and experiment with an algorithm for finding all solutions of systems of polynomial equations using homotopy continuation and monodromy. This algorithm follows a framework developed in previous work and can operate in…
With the recent advances in the object detection research field, tracking-by-detection has become the leading paradigm adopted by multi-object tracking algorithms. By extracting different features from detected objects, those algorithms can…
This paper presents a systematic approach for computing local solutions to motion planning problems in non-convex environments using numerical optimal control techniques. It extends the range of use of state-of-the-art numerical optimal…
We present an algorithm based on continuation techniques that can be applied to solve numerically minimization problems with equality constraints. We focus on problems with a great number of local minima which are hard to obtain by local…
When using images to locate objects, there is the problem of correcting for distortion and misalignment in the images. An elegant way of solving this problem is to generate an error correcting function that maps points in an image to their…
We study the error in approximating the minimum of a Brownian motion on the unit interval based on finitely many point evaluations. We construct an algorithm that adaptively chooses the points at which to evaluate the Brownian path. In…
The reciprocal square root is an important computation for which many sophisticated algorithms exist (see for example \cite{Moroz,863046,863031} and the references therein). A common theme is the use of Newton's method to refine the…
We propose a fast sequential algorithm for the fundamental problem of estimating frequencies and amplitudes of a noisy mixture of sinusoids. The algorithm is a natural generalization of Orthogonal Matching Pursuit (OMP) to the continuum…
In this paper, we propose and analyze some practical Newton methods for electronic structure calculations. We show the convergence and the local quadratic convergence rate for the Newton method when the Newton search directions are…
The paper aims to propose a suitable method in finding the solution of tensor complementarity problem. The tensor complementarity problem is a subclass of nonlinear complementarity problems for which the involved function is defined by a…
Newton's method is a fundamental technique in optimization with quadratic convergence within a neighborhood around the optimum. However reaching this neighborhood is often slow and dominates the computational costs. We exploit two…
The accelerated deployment of service robots have spawned a number of algorithm variations to better handle real-world conditions. Many local trajectory planning techniques have been deployed on practical robot systems successfully. While…
Automated driving has become more and more popular due to its potential to eliminate road accidents by taking over driving tasks from humans. One of the remaining challenges is to follow a planned path autonomously, especially when…
Nonlinear two-point boundary value problems arise in numerous areas of application. The existence and number of solutions for various cases has been studied from a theoretical standpoint. These results generally rely upon growth conditions…
It is known that parallel manipulators suffer from singular configurations. Evaluating the distance between a given configuration to the closest singular one is of interest for industrial applications (e.g.\ singularity-free path planning).…