Related papers: Efficient Second-Order Plane Adjustment
This paper presents an efficient algorithm for the least-squares problem using the point-to-plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3D reconstruction. We call this least-squares problem…
Bundle Adjustment (BA) refers to the problem of simultaneous determination of sensor poses and scene geometry, which is a fundamental problem in robot vision. This paper presents an efficient and consistent bundle adjustment method for…
Plane adjustment (PA) is crucial for many 3D applications, involving simultaneous pose estimation and plane recovery. Despite recent advancements, it remains a challenging problem in the realm of multi-view point cloud registration. Current…
Bundle adjustment (BA) is the standard way to optimise camera poses and to produce sparse representations of a scene. However, as the number of camera poses and features grows, refinement through bundle adjustment becomes inefficient.…
Newton's method is the most widespread high-order method, demanding the gradient and the Hessian of the objective function. However, one of the main disadvantages of Newtons method is its lack of global convergence and high iteration cost.…
The bundle adjustment (BA) algorithm is a widely used nonlinear optimization technique in the backend of Simultaneous Localization and Mapping (SLAM) systems. By leveraging the co-view relationships of landmarks from multiple perspectives,…
Plane Wave imaging enables many applications that require high frame rates, including localisation microscopy, shear wave elastography, and ultra-sensitive Doppler. To alleviate the degradation of image quality with respect to conventional…
The recovery of images from the observations that are degraded by a linear operator and further corrupted by Poisson noise is an important task in modern imaging applications such as astronomical and biomedical ones. Gradient-based…
Bundle adjustment (BA) is the problem of refining a visual reconstruction to produce better structure and viewing parameter estimates. This problem is often formulated as a nonlinear least squares problem, where data arises from interest…
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…
Large scale optimization problems are ubiquitous in machine learning and data analysis and there is a plethora of algorithms for solving such problems. Many of these algorithms employ sub-sampling, as a way to either speed up the…
We analyze Newton's method with lazy Hessian updates for solving general possibly non-convex optimization problems. We propose to reuse a previously seen Hessian for several iterations while computing new gradients at each step of the…
In this paper, we propose an interior-point method for linearly constrained optimization problems (possibly nonconvex). The method - which we call the Hessian barrier algorithm (HBA) - combines a forward Euler discretization of Hessian…
Reconstructing an accurate and consistent large-scale LiDAR point cloud map is crucial for robotics applications. The existing solution, pose graph optimization, though it is time-efficient, does not directly optimize the mapping…
We develop a method for optimization in shape spaces, i.e., sets of surfaces modulo re-parametrization. Unlike previously proposed gradient flows, we achieve superlinear convergence rates through a subtle approximation of the shape Hessian,…
Zeroth-order optimization addresses problems where gradient information is inaccessible or impractical to compute. While most existing methods rely on first-order approximations, incorporating second-order (curvature) information can, in…
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…
The Symmetric Tensor Approximation problem (STA) consists of approximating a symmetric tensor or a homogeneous polynomial by a linear combination of symmetric rank-1 tensors or powers of linear forms of low symmetric rank. We present two…
Many data-fitting applications require the solution of an optimization problem involving a sum of large number of functions of high dimensional parameter. Here, we consider the problem of minimizing a sum of $n$ functions over a convex…
The Bundle Adjustment (BA) model is commonly optimized using a nonlinear least squares method, with the Levenberg-Marquardt (L-M) algorithm being a typical choice. However, despite the L-M algorithm's effectiveness, its sensitivity to…