Related papers: miniSAM: A Flexible Factor Graph Non-linear Least …
We study several variations of line segment covering problem with axis-parallel unit squares in $I\!\!R^2$. A set $S$ of $n$ line segments is given. The objective is to find the minimum number of axis-parallel unit squares which cover at…
LiDAR sensors are a powerful tool for robot simultaneous localization and mapping (SLAM) in unknown environments, but the raw point clouds they produce are dense, computationally expensive to store, and unsuited for direct use by downstream…
Few-shot segmentation (FSS) aims to segment new classes using few annotated images. While recent FSS methods have shown considerable improvements by leveraging Segment Anything Model (SAM), they face two critical limitations: insufficient…
We explore algorithms and limitations for sparse optimization problems such as sparse linear regression and robust linear regression. The goal of the sparse linear regression problem is to identify a small number of key features, while the…
We propose AstroSLAM, a standalone vision-based solution for autonomous online navigation around an unknown target small celestial body. AstroSLAM is predicated on the formulation of the SLAM problem as an incrementally growing factor…
The design of minimum-compliance bending-resistant structures with continuous cross-section parameters is a challenging task because of its inherent non-convexity. Our contribution develops a strategy that facilitates computing all…
Signal processing is rich in inherently continuous and often nonlinear applications, such as spectral estimation, optical imaging, and super-resolution microscopy, in which sparsity plays a key role in obtaining state-of-the-art results.…
As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…
pySLAM is an open-source Python framework for Visual SLAM that supports monocular, stereo, and RGB-D camera inputs. It offers a flexible and modular interface, integrating a broad range of both classical and learning-based local features.…
Many recent problems in signal processing and machine learning such as compressed sensing, image restoration, matrix/tensor recovery, and non-negative matrix factorization can be cast as constrained optimization. Projected gradient descent…
The (non-uniform) sparsest cut problem is the following graph-partitioning problem: given a "supply" graph, and demands on pairs of vertices, delete some subset of supply edges to minimize the ratio of the supply edges cut to the total…
Fine-tuning large pretrained language models on a limited training corpus usually suffers from poor generalization. Prior works show that the recently-proposed sharpness-aware minimization (SAM) optimization method can improve the model…
In this paper we propose a proximal algorithm for minimizing an objective function of two block variables consisting of three terms: 1) a smooth function, 2) a nonsmooth function which is a composition between a strictly increasing,…
We propose a low complexity, graph based linear minimum mean square error (LMMSE) filter in which the non-white characteristics of a random process are taken into account. Our method corresponds to block LMMSE filtering, and has the…
We propose a novel method to optimize the structure of factor graphs for graph-based inference. As an example inference task, we consider symbol detection on linear inter-symbol interference channels. The factor graph framework has the…
Rational approximation appears in many contexts throughout science and engineering, playing a central role in linear systems theory, special function approximation, and many others. There are many existing methods for solving the rational…
Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…
In this paper, we explore the challenging 1-to-N map matching problem, which exploits a compact description of map data, to improve the scalability of map matching techniques used by various robot vision tasks. We propose a first method…
In computed tomography (CT), the relative trajectories of a sample, a detector, and a signal source are traditionally considered to be known, since they are caused by the intentional preprogrammed movement of the instrument parts. However,…
We study theoretical runtime guarantees for a class of optimization problems that occur in a wide variety of inference problems. these problems are motivated by the lasso framework and have applications in machine learning and computer…