相关论文: Parallax Bundle Adjustment on Manifold with Convex…

The proximal bundle method (PBM) is a fundamental and computationally effective algorithm for solving nonsmooth optimization problems. In this paper, we present the first variant of the PBM for smooth objectives, achieving an accelerated…

This paper concerns a class of constrained optimization problems in which, the objective and constraint functions are both upper-$\mathcal{C}^2$. For such nonconvex and nonsmooth optimization problems, we develop an inexact moving balls…

We propose a bound-preserving (BP) Point-Average-Moment PolynomiAl-interpreted (PAMPA) scheme by blending third-order and first-order constructions. The originality of the present construction is that it does not need any explicit…

Current bundle adjustment solvers such as the Levenberg-Marquardt (LM) algorithm are limited by the bottleneck in solving the Reduced Camera System (RCS) whose dimension is proportional to the camera number. When the problem is scaled up,…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

Bundle adjustment plays a vital role in feature-based monocular SLAM. In many modern SLAM pipelines, bundle adjustment is performed to estimate the 6DOF camera trajectory and 3D map (3D point cloud) from the input feature tracks. However,…

This paper develops a parameter-free adaptive proximal bundle method with two important features: 1) adaptive choice of variable prox stepsizes that "closely fits" the instance under consideration; and 2) adaptive criterion for making the…

Parameter-efficient fine-tuning methods such as LoRA enable practical adaptation of large language models but provide no principled uncertainty estimates, leading to poorly calibrated predictions and unreliable behavior under domain shift.…

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…

We extend the Approximate-Proximal Point (aProx) family of model-based methods for solving stochastic convex optimization problems, including stochastic subgradient, proximal point, and bundle methods, to the minibatch and accelerated…

In this paper, we propose a new decomposition approach named the proximal primal dual algorithm (Prox-PDA) for smooth nonconvex linearly constrained optimization problems. The proposed approach is primal-dual based, where the primal step…

Stochastic optimization finds a wide range of applications in operations research and management science. However, existing stochastic optimization techniques usually require the information of random samples (e.g., demands in the…

The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of Simultaneous Localization and Mapping (SLAM) systems. To achieve this, the gold standard is Bundle Adjustment (BA). Modern 3D LiDARs now retain higher…

Proximal bundle methods (PBM) are a powerful class of algorithms for convex optimization. Compared to gradient descent, PBM constructs more accurate surrogate models that incorporate gradients and function values from multiple past…

Despite the significant success of deep learning in computer vision tasks, cross-domain tasks still present a challenge in which the model's performance will degrade when the training set and the test set follow different distributions.…

Nonlinear convex problems arise in various areas of applied mathematics and engineering. Classical techniques such as the relaxed proximal point algorithm (PPA) and the prediction correction (PC) method were proposed for linearly…

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…

Bundle Adjustment (BA) has been proven to improve the accuracy of the LiDAR mapping. However, the BA method has not yet been properly employed in a dead-reckoning navigation system. In this paper, we present a frame-to-frame (F2F) BA for…

In this paper, we introduce a variational Bayesian algorithm (VBA) for image blind deconvolution. Our generic framework incorporates smoothness priors on the unknown blur/image and possible affine constraints (e.g., sum to one) on the blur…

This paper addresses the challenging issue of symmetry in mixed-integer convex optimization problems, which frequently arise in real-world applications such as the unit commitment problem. Although variable aggregation techniques have been…