相关论文: Shonan Rotation Averaging: Global Optimality by Su…

This paper proposes a fast and accurate surface normal estimation method which can be directly used on depth maps (organized point clouds). The surface normal estimation process is formulated as a closed-form expression. In order to reduce…

In this paper we propose a modified version of the simulated annealing algorithm for solving a stochastic global optimization problem. More precisely, we address the problem of finding a global minimizer of a function with noisy…

Reconstructing a 3D scene from unordered images is pivotal in computer vision and robotics, with applications spanning crowd-sourced mapping and beyond. While global Structure-from-Motion (SfM) techniques are scalable and fast, they often…

Multiple rotation averaging (MRA) is a fundamental optimization problem in 3D vision and robotics that aims to recover globally consistent absolute rotations from noisy relative measurements. Established classical methods, such as L1-IRLS…

In this paper, we present a branch and bound algorithm for extracting approximate solutions to Global Polynomial Optimization (GPO) problems with bounded feasible sets. The algorithm is based on a combination of SOS/Moment relaxations and…

We present a new simple method for rounding a semidefinite programming relaxation of a constraint satisfaction problem. We apply it to the problem of approximate angular synchronization. Specifically, we are given directed distances on a…

In this paper we explore the role of duality principles within the problem of rotation averaging, a fundamental task in a wide range of computer vision applications. In its conventional form, rotation averaging is stated as a minimization…

We propose a novel method that solves global optimization problems in two steps: (1) perform a (exponential) power-$N$ transformation to the not-necessarily differentiable objective function $f$ and get $f_N$, and (2) optimize the…

Rotation estimation plays a fundamental role in computer vision and robot tasks, and extremely robust rotation estimation is significantly useful for safety-critical applications. Typically, estimating a rotation is considered a non-linear…

We propose a family of relaxations of the optimal transport problem which regularize the problem by introducing an additional minimization step over a small region around one of the underlying transporting measures. The type of…

We present a general approach to rounding semidefinite programming relaxations obtained by the Sum-of-Squares method (Lasserre hierarchy). Our approach is based on using the connection between these relaxations and the Sum-of-Squares proof…

We propose a new method for generating semidefinite relaxations of optimal power flow problems. The method is based on chordal conversion techniques: by dropping some equality constraints in the conversion, we obtain semidefinite…

In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted…

This paper presents an alternative energy function for Global Optimization (GO) beamforming, tailored to acoustic broadband sources. Given, that properties such as the source location, multipole rotation, or flow conditions are…

In this paper, we focus on finding the global minimizer of a general unconstrained nonsmooth nonconvex optimization problem. Taking advantage of the smoothing method and the consensus-based optimization (CBO) method, we propose a novel…

We introduce a continuous global optimization method to the field of surface reconstruction from discrete noisy cloud of points with weak information on orientation. The proposed method uses an energy functional combining flux-based…

We introduce a new paradigm, $\textit{measure synchronization}$, for synchronizing graphs with measure-valued edges. We formulate this problem as maximization of the cycle-consistency in the space of probability measures over relative…

The pooling problem is an important industrial problem in the class of network flow problems for allocating gas flow in pipeline transportation networks. For P-formulation of the pooling problem with time discretization, we propose second…

Rotation group $\mathcal{SO}(d)$ synchronization is an important inverse problem and has attracted intense attention from numerous application fields such as graph realization, computer vision, and robotics. In this paper, we focus on the…

In the current era of big data, researchers routinely collect and analyze data of super-large sample sizes. Data-oriented statistical methods have been developed to extract information from super-large data. Smoothing spline ANOVA (SSANOVA)…