相关论文: RAGO: Recurrent Graph Optimizer For Multiple Rotat…

There are increasing interests of studying the video-to-depth (V2D) problem with machine learning techniques. While earlier methods directly learn a mapping from images to depth maps and camera poses, more recent works enforce multi-view…

Rotation averaging (RA) is a fundamental problem in robotics and computer vision. In RA, the goal is to estimate a set of $N$ unknown orientations $R_{1}, ..., R_{N} \in SO(3)$, given noisy measurements $R_{ij} \sim R^{-1}_{i} R_{j}$ of a…

Pose Graph Optimization (PGO) is an important non-convex optimization problem and is the state-of-the-art formulation for SLAM in robotics. It also has applications like camera motion estimation, structure from motion and 3D reconstruction…

Multiple rotation averaging is an essential task for structure from motion, mapping, and robot navigation. The task is to estimate the absolute orientations of several cameras given some of their noisy relative orientation measurements. The…

We address rotation averaging (RA) and its application to real-world 3D reconstruction. Local optimisation based approaches are the de facto choice, though they only guarantee a local optimum. Global optimisers ensure global optimality in…

Robustly estimating camera poses from a set of images is a fundamental task which remains challenging for differentiable methods, especially in the case of small and sparse camera pose graphs. To overcome this challenge, we propose…

Learning multiple tasks sequentially without forgetting previous knowledge, called Continual Learning(CL), remains a long-standing challenge for neural networks. Most existing methods rely on additional network capacity or data replay. In…

Most compilers for machine learning (ML) frameworks need to solve many correlated optimization problems to generate efficient machine code. Current ML compilers rely on heuristics based algorithms to solve these optimization problems one at…

In this paper we propose a real-time and robust solution to large-scale multiple rotation averaging. Until recently, Multiple rotation averaging problem had been solved using conventional iterative optimization algorithms. Such methods…

The objective of pose SLAM or pose-graph optimization (PGO) is to estimate the trajectory of a robot given odometric and loop closing constraints. State-of-the-art iterative approaches typically involve the linearization of a non-convex…

Proximal gradient algorithms (PGA), while foundational for inverse problems like image reconstruction, often yield unstable convergence and suboptimal solutions by violating the critical non-negativity constraint. We identify the gradient…

A cornerstone of geometric reconstruction, rotation averaging seeks the set of absolute rotations that optimally explains a set of measured relative orientations between them. In addition to being an integral part of bundle adjustment and…

The distributionally robust optimization (DRO)-based graph neural network methods improve recommendation systems' out-of-distribution (OOD) generalization by optimizing the model's worst-case performance. However, these studies fail to…

In the rapidly evolving landscape of wireless networks, achieving enhanced throughput with low latency for data transmission is crucial for future communication systems. While low complexity OSPF-type solutions have shown effectiveness in…

Multiple rotation averaging plays a crucial role in computer vision and robotics domains. The conventional optimization-based methods optimize a nonlinear cost function based on certain noise assumptions, while most previous learning-based…

Retrieval-augmented generation (RAG), which combines large language models (LLMs) with retrievals from external knowledge databases, is emerging as a popular approach for reliable LLM serving. However, efficient RAG serving remains an open…

We consider the distributed pose-graph optimization (PGO) problem, which is fundamental in accurate trajectory estimation in multi-robot simultaneous localization and mapping (SLAM). Conventional iterative approaches linearize a highly…

Optimization problems routinely depend on uncertain parameters that must be predicted before a decision is made. Classical robust and regret formulations are designed to handle erroneous predictions and can provide statistical error bounds…

In machine learning, nonconvex optimization problems with multiple local optimums are often encountered. Graduated Optimization Algorithm (GOA) is a popular heuristic method to obtain global optimums of nonconvex problems through…

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…