Related papers: Sparse Pose Graph Optimization in Cycle Space
The vertex connectivity of a graph $G$ is the size of the smallest set of vertices $S$ such that $G \setminus S$ is disconnected. For the class of planar graphs, the problem of vertex connectivity is well-studied, both from structural and…
The problem of finding multiple simple shortest paths in a weighted directed graph $G=(V,E)$ has many applications, and is considerably more difficult than the corresponding problem when cycles are allowed in the paths. Even for a single…
We propose a novel approach to Graduated Non-Convexity (GNC) and demonstrate its efficacy through its application in robust pose graph optimization, a key component in SLAM backends. Traditional GNC methods often rely on heuristic methods…
This paper considers the collaborative graph exploration problem in GPS-denied environments, where a group of robots are required to cover a graph environment while maintaining reliable pose estimations in collaborative simultaneous…
Stochastic optimization algorithms update models with cheap per-iteration costs sequentially, which makes them amenable for large-scale data analysis. Such algorithms have been widely studied for structured sparse models where the sparsity…
Algorithms for finding minimum or bounded vertex covers in graphs use a branch-and-reduce strategy, which involves exploring a highly imbalanced search tree. Prior GPU solutions assign different thread blocks to different sub-trees, while…
Many modern data analysis algorithms either assume or are considerably more efficient if the distances between the data points satisfy a metric. These algorithms include metric learning, clustering, and dimension reduction. As real data…
We present a novel approach to robust pose graph optimization based on Graduated Non-Convexity (GNC). Unlike traditional GNC-based methods, the proposed approach employs an adaptive shape function using B-spline to optimize the shape of the…
Orthogonal drawings, i.e., embeddings of graphs into grids, are a classic topic in Graph Drawing. Often the goal is to find a drawing that minimizes the number of bends on the edges. A key ingredient for bend minimization algorithms is the…
We present improved algorithms for short cycle decomposition of a graph. Short cycle decompositions were introduced in the recent work of Chu et al, and were used to make progress on several questions in graph sparsification. For all…
Feedback Vertex Set is a classic combinatorial optimization problem that asks for a minimum set of vertices in a given graph whose deletion makes the graph acyclic. From the point of view of parameterized algorithms and fixed-parameter…
The All-Pairs Shortest Paths (APSP) problem is one of the fundamental problems in theoretical computer science. It asks to compute the distance matrix of a given $n$-vertex graph. We revisit the classical problem of maintaining the distance…
When adapting Simultaneous Mapping and Localization (SLAM) to real-world applications, such as autonomous vehicles, drones, and augmented reality devices, its memory footprint and computing cost are the two main factors limiting the…
Modeling information that resides on vertices of large graphs is a key problem in several real-life applications, ranging from social networks to the Internet-of-things. Signal Processing on Graphs and, in particular, graph wavelets can…
The subgraph isomorphism finding problem is a well-studied problem in the field of computer science and graph theory, and it aims to enumerate all instances of a query graph in the respective data graph. In this paper, we propose an…
In this work, we establish theoretical and practical connections between vertex indexing for sparse graph/network compression and matrix ordering for sparse matrix-vector multiplication and variable elimination. We present a fundamental…
How can we approximate sparse graphs and sequences of sparse graphs (with unbounded average degree)? We consider convergence in the first $k$ moments of the graph spectrum (equivalent to the numbers of closed $k$-walks) appropriately…
A number of computations exist, especially in area of error-control coding and matrix computations, whose underlying data flow graphs are based on finite projective-geometry(PG) based balanced bipartite graphs. Many of these applications…
Profile Guided Optimization (PGO) uses runtime profiling to direct compiler optimization decisions, effectively combining static analysis with actual execution behavior to enhance performance. Runtime profiles, collected through…
We describe algorithms to efficiently compute minimum $(s,t)$-cuts and global minimum cuts of undirected surface-embedded graphs. Given an edge-weighted undirected graph $G$ with $n$ vertices embedded on an orientable surface of genus $g$,…