相关论文: On the closed-form solution of the rotation matrix…
Consensus maximization is widely used for robust fitting in computer vision. However, solving it exactly, i.e., finding the globally optimal solution, is intractable. A* tree search, which has been shown to be fixed-parameter tractable, is…
Motion represents one of the major challenges in magnetic resonance imaging (MRI). Since the MR signal is acquired in frequency space, any motion of the imaged object leads to complex artefacts in the reconstructed image in addition to…
We consider n robots with limited visibility: each robot can observe other robots only up to a constant distance denoted as the viewing range. The robots operate in discrete rounds that are either fully synchronous (FSync) or…
Semidefinite programming is an indispensable tool in computer vision, but general-purpose solvers for semidefinite programs are often too slow and memory intensive for large-scale problems. We propose a general framework to approximately…
We introduce a rotation-invariant representation of planar shapes. In particular, this representation encodes shapes as vectors such that the Euclidean distance between them serves as a valid shape distance. For standardized, star-shaped…
The task of learning to pick a single preferred example out a finite set of examples, an "optimal choice problem", is a supervised machine learning problem with complex, structured input. Problems of optimal choice emerge often in various…
In this paper, we consider optimization problems w.r.t. to pairs of orthogonal matrices $XY = I$. Problems of this form arise in several applications such as finding shape correspondence in computer graphics. We show that the space of such…
This paper investigates scalable frame in ${\mathbb R}^n$. We define the reduced diagram matrix of a frame and use it to classify scalability of the frame under some conditions. We give a new approach to the scaling problem by breaking the…
This work is devoted to the study of first order linear problems with involution and periodic boundary value conditions. We first prove a correspondence between a large set of such problems with different involutions to later focus our…
In computational 3D geometric problems involving rotations, it is often that people have to convert back and forth between a rotational matrix and a rotation described by an axis and a corresponding angle. For this purpose, Rodrigues'…
Euler proved that every rotation of a 3-dimensional body can be realized as a sequence of three rotations around two given axes. If we allow sequences of an arbitrary length, such a decomposition will not be unique. In this paper we solve…
Many nonconvex problems in robotics can be relaxed into convex formulations via Semi-Definite Programming (SDP) that can be solved to global optimality. The practical quality of these solutions, however, critically depends on rounding them…
We consider the problem of robust matrix completion, which aims to recover a low rank matrix $L_*$ and a sparse matrix $S_*$ from incomplete observations of their sum $M=L_*+S_*\in\mathbb{R}^{m\times n}$. Algorithmically, the robust matrix…
Imitation learning holds tremendous promise in learning policies efficiently for complex decision making problems. Current state-of-the-art algorithms often use inverse reinforcement learning (IRL), where given a set of expert…
In this paper, we study the problem of image recovery from given partial (corrupted) observations. Recovering an image using a low-rank model has been an active research area in data analysis and machine learning. But often, images are not…
We consider the problem of packing congruent circles with the maximum radius in a unit square as a mathematical optimization problem. Due to the presence of non-overlapping constraints, this problem is a notoriously difficult nonconvex…
We establish a result which states that regularizing an inverse problem with the gauge of a convex set $C$ yields solutions which are linear combinations of a few extreme points or elements of the extreme rays of $C$. These can be…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
Electronic phased-array radars offer new possibilities for radar search pattern optimization by using bi-dimensional beam-forming and beam-steering. Radar search pattern optimization can be approximated as a set cover problem and solved…
Estimating 3D rotations is a common procedure for 3D computer vision. The accuracy depends heavily on the rotation representation. One form of representation -- rotation matrices -- is popular due to its continuity, especially for pose…