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Toward globally optimal state estimation using automatically tightened semidefinite relaxations
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 …
attracted growing attention due to their ability to provide globally optimal solutions. In many …
HARA: A hierarchical approach for robust rotation averaging
We propose a novel hierarchical approach for multiple rotation averaging, dubbed HARA.
Our method incrementally initializes the rotation graph based on a hierarchy of triplet …
Our method incrementally initializes the rotation graph based on a hierarchy of triplet …
Invertible neural warp for nerf
This paper tackles the simultaneous optimization of pose and Neural Radiance Fields
(NeRF). Departing from the conventional practice of using explicit global representations for …
(NeRF). Departing from the conventional practice of using explicit global representations for …
Rotation synchronization via deep matrix factorization
In this paper we address the rotation synchronization problem, where the objective is to
recover absolute rotations starting from pairwise ones, where the unknowns and the …
recover absolute rotations starting from pairwise ones, where the unknowns and the …
RAGO: Recurrent graph optimizer for multiple rotation averaging
This paper proposes a deep recurrent Rotation Averaging Graph Optimizer (RAGO) for
Multiple Rotation Averaging (MRA). Conventional optimization-based methods usually fail to …
Multiple Rotation Averaging (MRA). Conventional optimization-based methods usually fail to …
Block coordinate descent on smooth manifolds: Convergence theory and twenty-one examples
Block coordinate descent is an optimization paradigm that iteratively updates one block of
variables at a time, making it quite amenable to big data applications due to its scalability …
variables at a time, making it quite amenable to big data applications due to its scalability …
Efficient detection of long consistent cycles and its application to distributed synchronization
Group synchronization plays a crucial role in global pipelines for Structure from Motion
(SfM). Its formulation is nonconvex and it is faced with highly corrupted measurements …
(SfM). Its formulation is nonconvex and it is faced with highly corrupted measurements …
GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation
Plane adjustment (PA) is crucial for many 3D applications, involving simultaneous pose
estimation and plane recovery. Despite recent advancements, it remains a challenging …
estimation and plane recovery. Despite recent advancements, it remains a challenging …
Exploiting Chordal Sparsity for Fast Global Optimality with Application to Localization
In recent years, many estimation problems in robotics have been shown to be solvable to
global optimality using their semidefinite relaxations. However, the runtime complexity of off …
global optimality using their semidefinite relaxations. However, the runtime complexity of off …
Synchronization of Projective Transformations
Synchronization involves the task of inferring unknown vertex values (belonging to a group)
in a graph, from edges labeled with vertex relations. While many matrix groups (eg, rotations …
in a graph, from edges labeled with vertex relations. While many matrix groups (eg, rotations …