相关论文: Robust Single Rotation Averaging

In this paper, we propose a robust profile estimation method for the parametric and nonparametric components of a single index model when the errors have a strongly unimodal density with unknown nuisance parameter. Under regularity…

The random reshuffling Kaczmarz (RRK) method enjoys the simplicity and efficiency in solving linear systems as a Kaczmarz-type method, whereas it also inherits the practical improvements of the stochastic gradient descent (SGD) with random…

In order to further advance the accuracy and robustness of the incremental parameter estimation-based rotation averaging methods, in this paper, a new member of the Incremental Rotation Averaging (IRA) family is introduced, which is termed…

For solving large consistent linear systems by iteration methods, inspired by the maximum residual Kaczmarz method and the randomized block Kaczmarz method, we propose the maximum residual block Kaczmarz method, which is designed to…

This paper presents a novel indoor positioning approach that leverages antenna radiation pattern characteristics through Received Signal Strength Indication (RSSI) measurements in a single-antenna system. By rotating the antenna or…

Under mild conditions on the noise level of the measurements, rotation averaging satisfies strong duality, which enables global solutions to be obtained via semidefinite programming (SDP) relaxation. However, generic solvers for SDP are…

In this paper, by regarding the two-subspace Kaczmarz method [20] as an alternated inertial randomized Kaczmarz algorithm we present a new convergence rate estimate which is shown to be better than that in [20] under a mild condition.…

In this paper, we revisit the rotation averaging problem applied in global Structure-from-Motion pipelines. We argue that the main problem of current methods is the minimized cost function that is only weakly connected with the input data…

We present a unified technique for sequential estimation of convex divergences between distributions, including integral probability metrics like the kernel maximum mean discrepancy, $\varphi$-divergences like the Kullback-Leibler…

Ordinary differential equations (ODEs) provide a powerful framework for modeling dynamic systems arising in a wide range of scientific domains. However, most existing ODE methods focus on a single system, and do not adequately address the…

This paper is related to our previous works [1][2] on the error estimate of the averaging technique, for systems with one fast angular variable. In the cited references, a general method (of mixed analytical and numerical type) has been…

We present a new iterative rotation inversion technique based on the Simultaneous Algebraic Reconstruction Technique developed for image reconstruction. We describe in detail our algorithmic implementation and compare it to the classical…

Rotation averaging is a key subproblem in applications of computer vision and robotics. Many methods for solving this problem exist, and there are also several theoretical results analyzing difficulty and optimality. However, one aspect…

Robustness to outliers is a central issue in real-world machine learning applications. While replacing a model to a heavy-tailed one (e.g., from Gaussian to Student-t) is a standard approach for robustification, it can only be applied to…

Randomized iterative algorithms have attracted much attention in recent years because they can approximately solve large-scale linear systems of equations without accessing the entire coefficient matrix. In this paper, we propose two novel…

Recently, there has been a growing need in analyzing data on manifolds owing to their important role in diverse fields of science and engineering. In the literature of manifold-valued data analysis up till now, however, only a few works…

This paper proposes a general framework of Riemannian adaptive optimization methods. The framework encapsulates several stochastic optimization algorithms on Riemannian manifolds and incorporates the mini-batch strategy that is often used…

Estimating the 3DoF rotation from a single RGB image is an important yet challenging problem. As a popular approach, probabilistic rotation modeling additionally carries prediction uncertainty information, compared to single-prediction…

We present a subgradient method for minimizing non-smooth, non-Lipschitz convex optimization problems. The only structure assumed is that a strictly feasible point is known. We extend the work of Renegar [5] by taking a different…

Recent progress on robust clustering led to constant-factor approximations for Robust Matroid Center. After a first combinatorial $7$-approximation that is based on a matroid intersection approach, two tight LP-based $3$-approximations were…