相关论文: BESTAnP: Bi-Step Efficient and Statistically Optim…

In this paper, we introduce a rotational primitive prediction based 6D object pose estimation using a single image as an input. We solve for the 6D object pose of a known object relative to the camera using a single image with occlusion.…

Effective transperineal ultrasound image guidance in prostate external beam radiotherapy requires consistent alignment between probe and prostate at each session during patient set-up. Probe placement and ultrasound image inter-pretation…

Training deep neural networks is challenging. To accelerate training and enhance performance, we propose PadamP, a novel optimization algorithm. PadamP is derived by applying the adaptive estimation of the p-th power of the second-order…

Locating 3D objects from a single RGB image via Perspective-n-Points (PnP) is a long-standing problem in computer vision. Driven by end-to-end deep learning, recent studies suggest interpreting PnP as a differentiable layer, so that 2D-3D…

Accurate estimation of the sound speed profile (SSP) is essential for underwater acoustic communication, sonar performance, and navigation, as the acoustic wave propagation depends strongly on the SSP. This work considers SSP estimation in…

Anisotropic rotation averaging has recently been explored as a natural extension of respective isotropic methods. In the anisotropic formulation, uncertainties of the estimated relative rotations -- obtained via standard two-view…

This paper studies the complexity of finding an $\epsilon$-stationary point for stochastic bilevel optimization when the upper-level problem is nonconvex and the lower-level problem is strongly convex. Recent work proposed the first-order…

For the accurate representation and reconstruction of band-limited signals on the sphere, an optimal-dimensionality sampling scheme has been recently proposed which requires the optimal number of samples equal to the number of degrees of…

Mutual localization is essential for coordination and cooperation in multi-robot systems. Previous works have tackled this problem by assuming available correspondences between measurements and received odometry estimations, which are…

This paper proposes a new algorithm -- the \underline{S}ingle-timescale Do\underline{u}ble-momentum \underline{St}ochastic \underline{A}pprox\underline{i}matio\underline{n} (SUSTAIN) -- for tackling stochastic unconstrained bilevel…

Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g.,~for regular…

Adaptive optimizers, most notably Adam, have become the default standard for training large-scale neural networks such as Transformers. These methods maintain running estimates of gradient first and second moments, incurring substantial…

6D pose estimation aims at determining the object pose that best explains the camera observation. The unique solution for non-ambiguous objects can turn into a multi-modal pose distribution for symmetrical objects or when occlusions of…

Synthetic aperture sonar (SAS) requires precise time-of-flight measurements of the transmitted/received waveform to produce well-focused imagery. It is not uncommon for errors in these measurements to be present resulting in image…

This paper proposes a new Bayesian strategy for the smooth estimation of altimetric parameters. The altimetric signal is assumed to be corrupted by a thermal and speckle noise distributed according to an independent and non identically…

Optical resolution photoacoustic microscopy (OR-PAM) leverages optical focusing and acoustic detection for microscopic optical absorption imaging. Intrinsically it owns high optical lateral resolution and poor acoustic axial resolution.…

Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…

Recently, a novel measurement setup has been introduced to photoacoustic tomography, that collects data in the form of projections of the full 3D acoustic pressure distribution at a certain time instant. Existing imaging algorithms for this…

We consider stochastic unconstrained bilevel optimization problems when only the first-order gradient oracles are available. While numerous optimization methods have been proposed for tackling bilevel problems, existing methods either tend…

Second-order Newton-type algorithms that leverage the exact Hessian or its approximation are central to solve nonlinear optimization problems. However, their applications in solving large-scale nonconvex problems are hindered by three…