Related papers: Fast, Robust, Permutation-and-Sign Invariant SO(3)…
We introduce fast randomized algorithms for solving semidefinite programming (SDP) relaxations of the partial permutation synchronization (PPS) problem, a core task in multi-image matching with significant relevance to 3D reconstruction.…
Shuffled linear regression (SLR) seeks to estimate latent features through a linear transformation, complicated by unknown permutations in the measurement dimensions. This problem extends traditional least-squares (LS) and Least Absolute…
It is possible to associate a highly constrained subset of relative 6 DoF poses between two 3D shapes, as long as the local surface orientation, the normal vector, is available at every surface point. Local shape features can be used to…
In this work we study orbit recovery over $SO(3)$, where the goal is to recover a function on the sphere from noisy, randomly rotated copies of it. We assume that the function is a linear combination of low-degree spherical harmonics. This…
Intensity-based image registration approaches rely on similarity measures to guide the search for geometric correspondences with high affinity between images. The properties of the used measure are vital for the robustness and accuracy of…
Recomi (REpeated COrrelation Matrix Inversion) is a polynomially fast algorithm for searching optimally stable solutions of the perceptron learning problem. For random unbiased and biased patterns it is shown that the algorithm is able to…
The Permutation Pattern Matching problem asks, given two permutations $\sigma$ on $n$ elements and $\pi$, whether $\sigma$ admits a subsequence with the same relative order as $\pi$ (or, in the counting version, how many such subsequences…
The non-commutative nature of 3D rotations poses well-known challenges in generalizing planar problems to three-dimensional ones, even more so in contact-rich tasks where haptic information (i.e., forces/torques) is involved. In this sense,…
Sensor placement for linear inverse problems is the selection of locations to assign sensors so that the entire physical signal can be well recovered from partial observations. In this paper, we propose a fast sampling algorithm to place…
We demonstrate a fast spin-s spherical harmonic transform algorithm, which is flexible and exact for band-limited functions. In contrast to previous work, where spin transforms are computed independently, our algorithm permits the…
Performances of an adaptive optics (AO) system are directly linked with the quality of its alignment. During the instrument calibration, having open loop fast tools with a large capture range are necessary to quickly assess the system…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
In this paper, we address the problem of attitude synchronization for a group of rigid body systems evolving on SO(3). The interaction among these systems is modeled through an undirected, connected, and acyclic graph topology. First, we…
In this article, we explicitly compute in momentum space the three and four-point correlation functions involving scalar and spinning operators in the free bosonic and the free fermionic theory in three dimensions. We also evaluate the…
In many applications data are measured or defined on a spherical manifold; spherical harmonic transforms are then required to access the frequency content of the data. We derive algorithms to perform forward and inverse spin spherical…
The common fixed points problem requires finding a point in the intersection of fixed points sets of a finite collection of operators. Quickly solving problems of this sort is of great practical importance for engineering and scientific…
Recent advances in selected CI, including the adaptive sampling configuration interaction (ASCI) algorithm and its heat bath extension, have made the ASCI approach competitive with the most accurate techniques available, and hence an…
While image registration has been studied in remote sensing community for decades, registering multimodal data [e.g., optical, LiDAR, SAR, and map] remains a challenging problem because of significant nonlinear intensity differences between…
Exactly solvable models are essential in physics. For many-body spin-1/2 systems, an important class of such models consists of those that can be mapped to free fermions hopping on a graph. We provide a complete characterization of models…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…