Related papers: Robust Motion Averaging for Multi-view Registratio…
Maximum mean discrepancy (MMD) has been widely employed to measure the distance between probability distributions. In this paper, we propose using MMD to solve continuous multi-objective optimization problems (MOPs). For solving MOPs, a…
Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…
Purpose: To develop a synergistic image reconstruction framework that exploits multicontrast (MC), multicoil, and compressed sensing (CS) redundancies in magnetic resonance imaging (MRI). Approach: CS, MC acquisition, and parallel imaging…
We propose a new fast algorithm for solving one of the standard approaches to ill-posed linear inverse problems (IPLIP), where a (possibly non-smooth) regularizer is minimized under the constraint that the solution explains the observations…
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The standard Laplacian flow consensus algorithm for double…
This work addresses the issue of motion compensation and pattern tracking in event camera data. An event camera generates asynchronous streams of events triggered independently by each of the pixels upon changes in the observed intensity.…
To control how a robot moves, motion planning algorithms must compute paths in high-dimensional state spaces while accounting for physical constraints related to motors and joints, generating smooth and stable motions, avoiding obstacles,…
The maximum correntropy criterion (MCC) has been employed to design outlier-robust adaptive filtering algorithms, among which the recursive MCC (RMCC) algorithm is a typical one. Motivated by the success of our recently proposed…
Recent developments in system identification have brought attention to regularized kernel-based methods. This type of approach has been proven to compare favorably with classic parametric methods. However, current formulations are not…
This work addresses the outlier removal problem in large-scale global structure-from-motion. In such applications, global outlier removal is very useful to mitigate the deterioration caused by mismatches in the feature point matching step.…
Multiple rotation averaging (MRA) is a fundamental optimization problem in 3D vision and robotics that aims to recover globally consistent absolute rotations from noisy relative measurements. Established classical methods, such as L1-IRLS…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
In general, optimal motion planning can be performed both locally and globally. In such a planning, the choice in favour of either local or global planning technique mainly depends on whether the environmental conditions are dynamic or…
This study investigates a downlink rate-splitting multiple access (RSMA) scenario in which multiple base stations (BSs), employing a coordinated multi-point (CoMP) transmission scheme, serve users equipped with movable antenna (MA)…
Frame prediction based on AutoEncoder plays a significant role in unsupervised video anomaly detection. Ideally, the models trained on the normal data could generate larger prediction errors of anomalies. However, the correlation between…
During recent decades, there has been a substantial development in optimal mass transport theory and methods. In this work, we consider multi-marginal problems wherein only partial information of each marginal is available, which is a setup…
We propose a numerical algorithm for the computation of multi-marginal optimal transport (MMOT) problems involving general probability measures that are not necessarily discrete. By developing a relaxation scheme in which marginal…
Registration of 3D point clouds is a fundamental task in several applications of robotics and computer vision. While registration methods such as iterative closest point and variants are very popular, they are only locally optimal. There…
A revised version of the quaternion approach for numerical integration of the equations of motion for rigid polyatomic molecules is proposed. The modified approach is based on a formulation of the quaternion dynamics with constraints. This…
In this paper, we propose an inexact Augmented Lagrangian Method (ALM) for the optimization of convex and nonsmooth objective functions subject to linear equality constraints and box constraints where errors are due to fixed-point data. To…