Related papers: Improving the Iterative Closest Point Algorithm us…
This paper presents a LiDAR odometry estimation framework called Generalized LOAM. Our proposed method is generalized in that it can seamlessly fuse various local geometric shapes around points to improve the position estimation accuracy…
Recently, the influence of potentially present symmetries has begun to be studied in complex networks. A typical way of studying symmetries is via the automorphism group of the corresponding graph. Since complex networks are often subject…
Convergence problems in coupled-cluster iterations are discussed, and a new iteration scheme is proposed. Whereas the Jacobi method inverts only the diagonal part of the large matrix of equation coefficients, we invert a matrix which also…
We present an interior point method for the min-cost flow problem that uses arc contractions and deletions to steer clear from the boundary of the polytope when path-following methods come too close. We obtain a randomized algorithm running…
Given a graph with positive and negative edge labels, the correlation clustering problem aims to cluster the nodes so to minimize the total number of between-cluster positive and within-cluster negative edges. This problem has many…
Drift-free localization is essential for autonomous vehicles. In this paper, we address the problem by proposing a filter-based framework, which integrates the visual-inertial odometry and the measurements of the features in the pre-built…
Inspection planning is concerned with computing the shortest robot path to inspect a given set of points of interest (POIs) using the robot's sensors. This problem arises in a wide range of applications from manufacturing to medical…
Discrete Optimal Transport problems give rise to very large linear programs (LP) with a particular structure of the constraint matrix. In this paper we present a hybrid algorithm that mixes an interior point method (IPM) and column…
This paper is concerned with low-rank matrix optimization, which has found a wide range of applications in machine learning. This problem in the special case of matrix sensing has been studied extensively through the notion of Restricted…
This article presents a new search algorithm for the NP-hard problem of optimizing functions of binary variables that decompose according to a graphical model. It can be applied to models of any order and structure. The main novelty is a…
Seismic travel time tomography is a geophysical imaging method to infer the 3-D interior structure of the solid Earth. Most commonly formulated as a linear(ized) inverse problem, it maps differences between observed and expected wave travel…
Cross-coupled iterative learning control (ILC) can achieve high performance for manufacturing applications in which tracking a contour is essential for the quality of a product. The aim of this paper is to develop a framework for…
We give polynomial-time algorithms for the exact computation of lowest-energy (ground) states, worst margin violators, log partition functions, and marginal edge probabilities in certain binary undirected graphical models. Our approach…
Neural displacement priors (NDP) can reduce the drift in inertial odometry and provide uncertainty estimates that can be readily fused with off-the-shelf filters. However, they fail to generalize to different IMU sampling rates and…
The proximal point algorithm is a widely used tool for solving a variety of convex optimization problems such as finding zeros of maximally monotone operators, fixed points of nonexpansive mappings, as well as minimizing convex functions.…
This study introduces the Iterative Chainlet Partitioning (ICP) algorithm and its neural acceleration for solving the Traveling Salesman Problem with Drone (TSP-D). The proposed ICP algorithm decomposes a TSP-D solution into smaller…
In this paper, we consider the problem of compressed sensing where the goal is to recover almost all the sparse vectors using a small number of fixed linear measurements. For this problem, we propose a novel partial hard-thresholding…
We present an iterative inverse reinforcement learning algorithm to infer optimal cost functions in continuous spaces. Based on a popular maximum entropy criteria, our approach iteratively finds a weight improvement step and proposes a…
In this paper we combine an infeasible Interior Point Method (IPM) with the Proximal Method of Multipliers (PMM). The resulting algorithm (IP-PMM) is interpreted as a primal-dual regularized IPM, suitable for solving linearly constrained…
This paper presents a control framework on Lie groups by designing the control objective in its Lie algebra. Control on Lie groups is challenging due to its nonlinear nature and difficulties in system parameterization. Existing methods to…