相关论文: A novel algorithm for optimizing bundle adjustment…

Simultaneous Localization and Mapping (SLAM) using 3D LiDAR has emerged as a cornerstone for autonomous navigation in robotics. While feature-based SLAM systems have achieved impressive results by leveraging edge and planar structures, they…

The problem of obtaining dense reconstruction of an object in a natural sequence of images has been long studied in computer vision. Classically this problem has been solved through the application of bundle adjustment (BA). More recently,…

This work presents cost-effective low-rank techniques for designing robust adaptive beamforming (RAB) algorithms. The proposed algorithms are based on the exploitation of the cross-correlation between the array observation data and 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…

The Alternating Minimization Algorithm (AMA) has been proposed by Tseng to solve convex programming problems with two-block separable linear constraints and objectives, whereby (at least) one of the components of the latter is assumed to be…

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…

Vision-language models (VLMs) such as CLIP demonstrate strong generalization in zero-shot classification but remain highly vulnerable to adversarial perturbations. Existing methods primarily focus on adversarial fine-tuning or prompt…

Directional transmission patterns (a.k.a. narrow beams) are the key to wireless communications in millimeter wave (mmWave) frequency bands which suffer from high path loss and severe shadowing. In addition, the propagation channel in mmWave…

Block matching (BM) motion estimation plays a very important role in video coding. In a BM approach, image frames in a video sequence are divided into blocks. For each block in the current frame, the best matching block is identified inside…

Bundle adjustment (BA) is a critical technique in various robotic applications such as simultaneous localization and mapping (SLAM), augmented reality (AR), and photogrammetry. BA optimizes parameters such as camera poses and 3D landmarks…

A spectrum- and energy-efficient system is essential for millimeter wave communication systems that require large antenna arrays with power-demanding ADCs. We propose an ADC bit allocation (BA) algorithm that solves a minimum mean squared…

This paper introduces a novel targetless method for joint intrinsic and extrinsic calibration of LiDAR-camera systems using plane-constrained bundle adjustment (BA). Our method leverages LiDAR point cloud measurements from planes in the…

The optimization of Kernel-Target Alignment (TA) has been recently proposed as a way to reduce the number of hardware resources in quantum classifiers. It allows to exchange highly expressive and costly circuits to moderate size, task…

The performance of modern machine learning algorithms depends upon the selection of a set of hyperparameters. Common examples of hyperparameters are learning rate and the number of layers in a dense neural network. Auto-ML is a branch of…

We revisit the classical, full-fledged Bayesian model averaging (BMA) paradigm to ensemble pre-trained and/or lightly-finetuned foundation models to enhance the classification performance on image and text data. To make BMA tractable under…

When aligning large language models (LLMs), their performance on various tasks (such as being helpful, harmless, and honest) depends heavily on the composition of their training data. However, selecting a data mixture that achieves strong…

We tackle the problem of mosaicing bundle adjustment (i.e., simultaneous refinement of camera orientations and scene map) for a purely rotating event camera. We formulate the problem as a regularized non-linear least squares optimization.…

A core component of all Structure from Motion (SfM) approaches is bundle adjustment. As the latter is a computational bottleneck for larger blocks, parallel bundle adjustment has become an active area of research. Particularly,…

Aligning electron density maps from Cryogenic electron microscopy (cryo-EM) is a first key step for studying multiple conformations of a biomolecule. As this step remains costly and challenging, with standard alignment tools being…

In machine learning, Feature Selection (FS) is a major part of efficient algorithm. It fuels the algorithm and is the starting block for our prediction. In this paper, we present a new method, called Optimal Coordinate Ascent (OCA) that…