Related papers: miniSAM: A Flexible Factor Graph Non-linear Least …
Accurate and robust localization and mapping are essential components for most autonomous robots. In this paper, we propose a SLAM system for building globally consistent maps, called PIN-SLAM, that is based on an elastic and compact…
Sum-of-squares (SOS) optimization provides a computationally tractable framework for certifying polynomial nonnegativity. If the considered problem is convex, the SOS problem can be transcribed into and solved by semi-definite programs.…
We present ENSAM (Equivariant, Normalized, Segment Anything Model), a lightweight and promptable model for universal 3D medical image segmentation. ENSAM combines a SegResNet-based encoder with a prompt encoder and mask decoder in a…
This paper argues that the method of least squares has significant unfulfilled potential in modern machine learning, far beyond merely being a tool for fitting linear models. To release its potential, we derive custom gradients that…
Segment Anything Model (SAM) has emerged as a transformative approach in image segmentation, acclaimed for its robust zero-shot segmentation capabilities and flexible prompting system. Nonetheless, its performance is challenged by images…
Sharpness-Aware Minimization (SAM) optimizer enhances the generalization ability of the machine learning model by exploring the flat minima landscape through weight perturbations. Despite its empirical success, SAM introduces an additional…
For three decades, carrier-phase observations have been used to obtain the most accurate location estimates using global navigation satellite systems (GNSS). These estimates are computed by minimizing a nonlinear mixed-integer least-squares…
While Structure from Motion (SfM) achieves great success in 3D reconstruction, it still meets challenges on large scale scenes. In this work, large scale SfM is deemed as a graph problem, and we tackle it in a divide-and-conquer manner.…
Recently, Sharpness-Aware Minimization (SAM) algorithm has shown state-of-the-art generalization abilities in vision tasks. It demonstrates that flat minima tend to imply better generalization abilities. However, it has some difficulty…
Pose-Graph optimization is a crucial component of many modern SLAM systems. Most prominent state of the art systems address this problem by iterative non-linear least squares. Both number of iterations and convergence basin of these…
The generalized partially linear additive model (GPLAM) is a flexible and interpretable approach to building predictive models. It combines features in an additive manner, allowing each to have either a linear or nonlinear effect on the…
Matrix factorization is a popular approach to solving matrix estimation problems based on partial observations. Existing matrix factorization is based on least squares and aims to yield a low-rank matrix to interpret the conditional sample…
We introduce the Stochastic Asynchronous Proximal Alternating Linearized Minimization (SAPALM) method, a block coordinate stochastic proximal-gradient method for solving nonconvex, nonsmooth optimization problems. SAPALM is the first…
In this paper, we propose a flexible SLAM framework, XRDSLAM. It adopts a modular code design and a multi-process running mechanism, providing highly reusable foundational modules such as unified dataset management, 3d visualization,…
PolSAR data presents unique challenges due to its rich and complex characteristics. Existing data representations, such as complex-valued data, polarimetric features, and amplitude images, are widely used. However, these formats often face…
We consider adaptive system identification problems with convex constraints and propose a family of regularized Least-Mean-Square (LMS) algorithms. We show that with a properly selected regularization parameter the regularized LMS provably…
Sharpness-aware minimization (SAM) was proposed to reduce sharpness of minima and has been shown to enhance generalization performance in various settings. In this work we show that perturbing only the affine normalization parameters…
Non-convex sparse minimization (NSM), or $\ell_0$-constrained minimization of convex loss functions, is an important optimization problem that has many machine learning applications. NSM is generally NP-hard, and so to exactly solve NSM is…
TomoSAM has been developed to integrate the cutting-edge Segment Anything Model (SAM) into 3D Slicer, a highly capable software platform used for 3D image processing and visualization. SAM is a promptable deep learning model that is able to…
This paper investigates the behavior of the Min-Sum message passing scheme to solve systems of linear equations in the Laplacian matrices of graphs and to compute electric flows. Voltage and flow problems involve the minimization of…