Related papers: Provably Approximated ICP
Probabilistic point-set registration methods have been gaining more attention for their robustness to noise, outliers and occlusions. However, these methods tend to be much slower than the popular iterative closest point (ICP) algorithms,…
This paper addresses the problem of finding a B-term wavelet representation of a given discrete function $f \in \real^n$ whose distance from f is minimized. The problem is well understood when we seek to minimize the Euclidean distance…
Point pattern matching problems are of fundamental importance in various areas including computer vision and structural bioinformatics. In this paper, we study one of the more general problems, known as LCP (largest common point set…
Inspired by regularization techniques in statistics and machine learning, we study complementary composite minimization in the stochastic setting. This problem corresponds to the minimization of the sum of a (weakly) smooth function endowed…
The growing amount of applications that generate vast amount of data in short time scales render the problem of partial monitoring, coupled with prediction, a rather fundamental one. We study the aforementioned canonical problem under the…
This paper presents a robust 6-DOF relative navigation by combining the iterative closet point (ICP) registration algorithm and a noise-adaptive Kalman filter (AKF) in a closed-loop configuration together with measurements from a laser…
The proximal gradient algorithm has been popularly used for convex optimization. Recently, it has also been extended for nonconvex problems, and the current state-of-the-art is the nonmonotone accelerated proximal gradient algorithm.…
This work develops new algorithms with rigorous efficiency guarantees for infinite horizon imitation learning (IL) with linear function approximation without restrictive coherence assumptions. We begin with the minimax formulation of the…
We develop a family of accelerated stochastic algorithms that minimize sums of convex functions. Our algorithms improve upon the fastest running time for empirical risk minimization (ERM), and in particular linear least-squares regression,…
In the NP-hard \textsc{Group Closeness Centrality Maximization} problem, the input is a graph $G = (V,E)$ and a positive integer $k$, and the task is to find a set $S \subseteq V$ of size $k$ that maximizes the reciprocal of group farness…
We consider the problem of minimizing a convex objective which is the sum of a smooth part, with Lipschitz continuous gradient, and a nonsmooth part. Inspired by various applications, we focus on the case when the nonsmooth part is a…
Constrained optimization problems appear in a wide variety of challenging real-world problems, where constraints often capture the physics of the underlying system. Classic methods for solving these problems rely on iterative algorithms…
In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline…
This paper studies the fair range clustering problem in which the data points are from different demographic groups and the goal is to pick $k$ centers with the minimum clustering cost such that each group is at least minimally represented…
Image-to-point cloud (I2P) registration is a fundamental task for robots and autonomous vehicles to achieve cross-modality data fusion and localization. Current I2P registration methods primarily focus on estimating correspondences at the…
Let $P=(P_1, P_2, \ldots, P_n)$, $P_i \in \field{R}$ for all $i$, be a signal and let $C$ be a constant. In this work our goal is to find a function $F:[n]\rightarrow \field{R}$ which optimizes the following objective function: $$ \min_{F}…
We consider the stochastic geometry model where the location of each node is a random point in a given metric space, or the existence of each node is uncertain. We study the problems of computing the expected lengths of several…
Given an undirected graph with edge costs and edge demands, the Capacitated Arc Routing problem (CARP) asks for minimum-cost routes for equal-capacity vehicles so as to satisfy all demands. Constant-factor polynomial-time approximation…
We consider the problem of computing the q->p norm of a matrix A, which is defined for p,q \ge 1, as |A|_{q->p} = max_{x !=0 } |Ax|_p / |x|_q. This is in general a non-convex optimization problem, and is a natural generalization of the…
We provide a general framework for getting expected linear time constant factor approximations (and in many cases FPTASs) to several well-known problems in Computational Geometry, such as $k$-center clustering and farthest nearest neighbor.…