Related papers: Sparse Pose Graph Optimization in Cycle Space
We consider the problem of finding a cycle in a sparse directed graph $G$ that is promised to be far from acyclic, meaning that the smallest feedback arc set in $G$ is large. We prove an information-theoretic lower bound, showing that for…
Robustly estimating camera poses from a set of images is a fundamental task which remains challenging for differentiable methods, especially in the case of small and sparse camera pose graphs. To overcome this challenge, we propose…
Pose graph optimization is a non-convex optimization problem encountered in many areas of robotics perception. Its convergence to an accurate solution is conditioned by two factors: the non-linearity of the cost function in use and the…
There exist many orthogonal graph drawing algorithms that minimize edge crossings or edge bends, however they produce unsatisfactory drawings in many practical cases. In this paper we present a grid-based algorithm for drawing orthogonal…
Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…
We introduce a new algorithmic framework for designing dynamic graph algorithms in minor-free graphs, by exploiting the structure of such graphs and a tool called vertex sparsification, which is a way to compress large graphs into small…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
A cycle cover of a bridgeless graph $G$ is a collection of simple cycles in $G$ such that each edge $e$ appears on at least one cycle. The common objective in cycle cover computation is to minimize the total lengths of all cycles. Motivated…
The concept of a random process has been recently extended to graph signals, whereby random graph processes are a class of multivariate stochastic processes whose coefficients are matrices with a \textit{graph-topological} structure. The…
The study of domination in graphs has led to a variety of domination problems studied in the literature. Most of these follow the following general framework: Given a graph $G$ and an integer $k$, decide if there is a set $S$ of $k$…
We study the problem of finding the cycle of minimum cost-to-time ratio in a directed graph with $ n $ nodes and $ m $ edges. This problem has a long history in combinatorial optimization and has recently seen interesting applications in…
We propose a snapshots-based method to compute reduction subspaces for physics-based simulations. Our method is applicable to any mesh with some artistic prior knowledge of the solution and only requires a record of existing solutions…
The sparsest cut problem consists of identifying a small set of edges that breaks the graph into balanced sets of vertices. The normalized cut problem balances the total degree, instead of the size, of the resulting sets. Applications of…
In SLAM (Simultaneous localization and mapping) problems, Pose Graph Optimization (PGO) is a technique to refine an initial estimate of a set of poses (positions and orientations) from a set of pairwise relative measurements. The…
It is common in pose graph optimization (PGO) algorithms to assume that noise in the translations and rotations of relative pose measurements is uncorrelated. However, existing work shows that in practice these measurements can be highly…
Map-based LiDAR pose tracking is essential for long-term autonomous operation, where onboard map priors need be compact for scalable storage and fast retrieval, while online observations are often partial, repetitive, and heavily occluded.…
In recent years, mobile robots are becoming ambitious and deployed in large-scale scenarios. Serving as a high-level understanding of environments, a sparse skeleton graph is beneficial for more efficient global planning. Currently,…
Sparse, irregular graphs show up in various applications like linear algebra, machine learning, engineering simulations, robotic control, etc. These graphs have a high degree of parallelism, but their execution on parallel threads of modern…
We consider the problem of distributed pose graph optimization (PGO) that has important applications in multi-robot simultaneous localization and mapping (SLAM). We propose the majorization minimization (MM) method for distributed PGO…
We consider the classical Minimum Crossing Number problem: given an $n$-vertex graph $G$, compute a drawing of $G$ in the plane, while minimizing the number of crossings between the images of its edges. This is a fundamental and extensively…