Related papers: Outlier Robust ICP for Minimizing Fractional RMSD

We study the Maximum Independent Set of Rectangles (MISR) problem: given a set of $n$ axis-parallel rectangles, find a largest-cardinality subset of the rectangles, such that no two of them overlap. MISR is a basic geometric optimization…

In this paper, we propose a coarse-to-fine integration solution inspired by the classical ICP algorithm, to pairwise 3D point cloud registration with two improvements of hybrid metric spaces (eg, BSC feature and Euclidean geometry spaces)…

In this paper, a piecewise quadratic nonconforming finite element method on rectangular grids for a fourth-order elliptic singular perturbation problem is presented. This proposed method is robustly convergent with respect to the…

Over the past years Robust PCA has been established as a standard tool for reliable low-rank approximation of matrices in the presence of outliers. Recently, the Robust PCA approach via nuclear norm minimization has been extended to…

Since numbers in the computer are represented with a fixed number of bits, loss of accuracy during calculation is unavoidable. At high precision where more bits (e.g. 64) are allocated to each number, round-off errors are typically small.…

In this paper, a new video super-resolution reconstruction (SRR) method with improved robustness to outliers is proposed. Although the R-LMS is one of the SRR algorithms with the best reconstruction quality for its computational cost, and…

Outlier detection refers to the identification of rare items that are deviant from the general data distribution. Existing approaches suffer from high computational complexity, low predictive capability, and limited interpretability. As a…

We give a continuous perspective on the Inertial Corrected Primal-Dual Proximal Splitting (IC-PDPS) proposed by Valkonen ({\it SIAM J. Optim.}, 30(2): 1391--1420, 2020) for solving saddle-point problems. The algorithm possesses nonergodic…

Probabilistic point-set registration methods have been gaining more attention for their robustness to noise, outliers and occlusions. However, these methods tend to be much slower than the popular iterative closest point (ICP) algorithms,…

We study a random sampling technique to approximate integrals $\int_{[0,1]^s}f(\mathbf{x})\,\mathrm{d}\mathbf{x}$ by averaging the function at some sampling points. We focus on cases where the integrand is smooth, which is a problem which…

Given a linear regression setting, Iterative Least Trimmed Squares (ILTS) involves alternating between (a) selecting the subset of samples with lowest current loss, and (b) re-fitting the linear model only on that subset. Both steps are…

While the theory of operator approximation with any given accuracy is well elaborated, the theory of {best constrained} constructive operator approximation is still not so well developed. Despite increasing demands from applications this…

Minimum distance constraints (minDCs) appear in many geometric optimization problems. They pose major challenges for mixed-integer nonlinear programming (MINLP) due to their reverse-convexity. We develop new algorithms for tightening…

In this paper we combine an infeasible Interior Point Method (IPM) with the Proximal Method of Multipliers (PMM). The resulting algorithm (IP-PMM) is interpreted as a primal-dual regularized IPM, suitable for solving linearly constrained…

Imperfect data (noise, outliers and partial overlap) and high degrees of freedom make non-rigid registration a classical challenging problem in computer vision. Existing methods typically adopt the $\ell_{p}$ type robust estimator to…

Distributed algorithms for solving additive or consensus optimization problems commonly rely on first-order or proximal splitting methods. These algorithms generally come with restrictive assumptions and at best enjoy a linear convergence…

In this paper we present a novel joint approach for optimising surface curvature and pose alignment. We present two implementations of this joint optimisation strategy, including a fast implementation that uses two frames and an offline…

Ordinal classification has been widely applied in many high-stakes applications, e.g., medical imaging and diagnosis, where reliable uncertainty quantification (UQ) is essential for decision making. Conformal prediction (CP) is a general UQ…

Robotic affordance estimation is challenging due to visual, geometric, and semantic ambiguities in sensory input. We propose a method that disambiguates these signals using two coupled recursive estimators for sub-aspects of affordances:…

Informed down-sampling (IDS) is known to improve performance in symbolic regression when combined with various selection strategies, especially tournament selection. However, recent work found that IDS's gains are not consistent across all…