Related papers: GlobalPointer: Large-Scale Plane Adjustment with B…
Point cloud datasets often suffer from inadequate sample sizes in comparison to image datasets, making data augmentation challenging. While traditional methods, like rigid transformations and scaling, have limited potential in increasing…
By starting with the assumption that motion is fundamentally a decision making problem, we use the world-line concept from Special Relativity as the inspiration for a novel multi-agent path planning method. We have identified a particular…
Bundle adjustment (BA) on LiDAR point clouds has been extensively investigated in recent years due to its ability to optimize multiple poses together, resulting in high accuracy and global consistency for point cloud. However, the accuracy…
Capturing and reconstructing a human actor's motion is important for filmmaking and gaming. Currently, motion capture systems with static cameras are used for pixel-level high-fidelity reconstructions. Such setups are costly, require…
In [19], a general, inexact, efficient proximal quasi-Newton algorithm for composite optimization problems has been proposed and a sublinear global convergence rate has been established. In this paper, we analyze the convergence properties…
To overcome the limitations of current parafoil precision landing capabilities, an efficient real-time convex optimized guidance and control strategy is presented. Successive convexification of the parafoil guidance problem guarantees local…
Generalizing both mixed-integer linear optimization and convex optimization, mixed-integer convex optimization possesses broad modeling power but has seen relatively few advances in general-purpose solvers in recent years. In this paper, we…
Many modern machine learning algorithms such as generative adversarial networks (GANs) and adversarial training can be formulated as minimax optimization. Gradient descent ascent (GDA) is the most commonly used algorithm due to its…
Aligning partially overlapping point sets where there is no prior information about the value of the transformation is a challenging problem in computer vision. To achieve this goal, we first reduce the objective of the robust point…
The challenging task of 3D planar reconstruction from images involves several sub-tasks including frame-wise plane detection, segmentation, parameter regression and possibly depth prediction, along with cross-frame plane correspondence and…
The ability to perceive 3D human bodies from a single image has a multitude of applications ranging from entertainment and robotics to neuroscience and healthcare. A fundamental challenge in human mesh recovery is in collecting the ground…
By exploiting double-penalty terms for the primal subproblem, we develop a novel relaxed augmented Lagrangian method for solving a family of convex optimization problems subject to equality or inequality constraints. The method is then…
Cutting plane methods, particularly outer approximation, are a well-established approach for solving nonlinear discrete optimization problems without relaxing the integrality of decision variables. While powerful in theory, their…
A subgradient method is presented for solving general convex optimization problems, the main requirement being that a strictly-feasible point is known. A feasible sequence of iterates is generated, which converges to within user-specified…
Estimating the absolute orientation of a local system relative to a global navigation satellite system (GNSS) reference often suffers from local minima and high dependency on satellite availability. Existing methods for this alignment task…
Friedlander, Mac\^{e}do, and Pong recently introduced the projected polar proximal point algorithm (P4A) for solving optimization problems by using the closed perspective transforms of convex objectives. We analyse a generalization (GP4A)…
We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…
Many real-world problems can be formulated as the alignment between two geometric patterns. Previously, a great amount of research focus on the alignment of 2D or 3D patterns in the field of computer vision. Recently, the alignment problem…
Blind Perspective-n-Point (PnP) is the problem of estimating the position and orientation of a camera relative to a scene, given 2D image points and 3D scene points, without prior knowledge of the 2D-3D correspondences. Solving for pose and…
We present Points2Plans, a framework for composable planning with a relational dynamics model that enables robots to solve long-horizon manipulation tasks from partial-view point clouds. Given a language instruction and a point cloud of the…