3,417 research outputs found
Local quadratic convergence of polynomial-time interior-point methods for conic optimization problems
In this paper, we establish a local quadratic convergence of polynomial-time interior-point methods for general conic optimization problems. The main structural property used in our analysis is the logarithmic homogeneity of self-concordant barrier functions. We propose new path-following predictor-corrector schemes which work only in the dual space. They are based on an easily computable gradient proximity measure, which ensures an automatic transformation of the global linear rate of convergence to the local quadratic one under some mild assumptions. Our step-size procedure for the predictor step is related to the maximum step size (the one that takes us to the boundary). It appears that in order to obtain local superlinear convergence, we need to tighten the neighborhood of the central path proportionally to the current duality gapconic optimization problem, worst-case complexity analysis, self-concordant barriers, polynomial-time methods, predictor-corrector methods, local quadratic convergence
Structured learning of sum-of-submodular higher order energy functions
Submodular functions can be exactly minimized in polynomial time, and the
special case that graph cuts solve with max flow \cite{KZ:PAMI04} has had
significant impact in computer vision
\cite{BVZ:PAMI01,Kwatra:SIGGRAPH03,Rother:GrabCut04}. In this paper we address
the important class of sum-of-submodular (SoS) functions
\cite{Arora:ECCV12,Kolmogorov:DAM12}, which can be efficiently minimized via a
variant of max flow called submodular flow \cite{Edmonds:ADM77}. SoS functions
can naturally express higher order priors involving, e.g., local image patches;
however, it is difficult to fully exploit their expressive power because they
have so many parameters. Rather than trying to formulate existing higher order
priors as an SoS function, we take a discriminative learning approach,
effectively searching the space of SoS functions for a higher order prior that
performs well on our training set. We adopt a structural SVM approach
\cite{Joachims/etal/09a,Tsochantaridis/etal/04} and formulate the training
problem in terms of quadratic programming; as a result we can efficiently
search the space of SoS priors via an extended cutting-plane algorithm. We also
show how the state-of-the-art max flow method for vision problems
\cite{Goldberg:ESA11} can be modified to efficiently solve the submodular flow
problem. Experimental comparisons are made against the OpenCV implementation of
the GrabCut interactive segmentation technique \cite{Rother:GrabCut04}, which
uses hand-tuned parameters instead of machine learning. On a standard dataset
\cite{Gulshan:CVPR10} our method learns higher order priors with hundreds of
parameter values, and produces significantly better segmentations. While our
focus is on binary labeling problems, we show that our techniques can be
naturally generalized to handle more than two labels
Adaptive Nonlocal Filtering: A Fast Alternative to Anisotropic Diffusion for Image Enhancement
The goal of many early visual filtering processes is to remove noise while at the same time sharpening contrast. An historical succession of approaches to this problem, starting with the use of simple derivative and smoothing operators, and the subsequent realization of the relationship between scale-space and the isotropic dfffusion equation, has recently resulted in the development of "geometry-driven" dfffusion. Nonlinear and anisotropic diffusion methods, as well as image-driven nonlinear filtering, have provided improved performance relative to the older isotropic and linear diffusion techniques. These techniques, which either explicitly or implicitly make use of kernels whose shape and center are functions of local image structure are too computationally expensive for use in real-time vision applications. In this paper, we show that results which are largely equivalent to those obtained from geometry-driven diffusion can be achieved by a process which is conceptually separated info two very different functions. The first involves the construction of a vector~field of "offsets", defined on a subset of the original image, at which to apply a filter. The offsets are used to displace filters away from boundaries to prevent edge blurring and destruction. The second is the (straightforward) application of the filter itself. The former function is a kind generalized image skeletonization; the latter is conventional image filtering. This formulation leads to results which are qualitatively similar to contemporary nonlinear diffusion methods, but at computation times that are roughly two orders of magnitude faster; allowing applications of this technique to real-time imaging. An additional advantage of this formulation is that it allows existing filter hardware and software implementations to be applied with no modification, since the offset step reduces to an image pixel permutation, or look-up table operation, after application of the filter
Minimum-time trajectory generation for quadrotors in constrained environments
In this paper, we present a novel strategy to compute minimum-time
trajectories for quadrotors in constrained environments. In particular, we
consider the motion in a given flying region with obstacles and take into
account the physical limitations of the vehicle. Instead of approaching the
optimization problem in its standard time-parameterized formulation, the
proposed strategy is based on an appealing re-formulation. Transverse
coordinates, expressing the distance from a frame path, are used to
parameterise the vehicle position and a spatial parameter is used as
independent variable. This re-formulation allows us to (i) obtain a fixed
horizon problem and (ii) easily formulate (fairly complex) position
constraints. The effectiveness of the proposed strategy is proven by numerical
computations on two different illustrative scenarios. Moreover, the optimal
trajectory generated in the second scenario is experimentally executed with a
real nano-quadrotor in order to show its feasibility.Comment: arXiv admin note: text overlap with arXiv:1702.0427
Maximum Persistency via Iterative Relaxed Inference with Graphical Models
We consider the NP-hard problem of MAP-inference for undirected discrete
graphical models. We propose a polynomial time and practically efficient
algorithm for finding a part of its optimal solution. Specifically, our
algorithm marks some labels of the considered graphical model either as (i)
optimal, meaning that they belong to all optimal solutions of the inference
problem; (ii) non-optimal if they provably do not belong to any solution. With
access to an exact solver of a linear programming relaxation to the
MAP-inference problem, our algorithm marks the maximal possible (in a specified
sense) number of labels. We also present a version of the algorithm, which has
access to a suboptimal dual solver only and still can ensure the
(non-)optimality for the marked labels, although the overall number of the
marked labels may decrease. We propose an efficient implementation, which runs
in time comparable to a single run of a suboptimal dual solver. Our method is
well-scalable and shows state-of-the-art results on computational benchmarks
from machine learning and computer vision.Comment: Reworked version, submitted to PAM
Knot Tightening By Constrained Gradient Descent
We present new computations of approximately length-minimizing polygons with
fixed thickness. These curves model the centerlines of "tight" knotted tubes
with minimal length and fixed circular cross-section. Our curves approximately
minimize the ropelength (or quotient of length and thickness) for polygons in
their knot types. While previous authors have minimized ropelength for polygons
using simulated annealing, the new idea in our code is to minimize length over
the set of polygons of thickness at least one using a version of constrained
gradient descent.
We rewrite the problem in terms of minimizing the length of the polygon
subject to an infinite family of differentiable constraint functions. We prove
that the polyhedral cone of variations of a polygon of thickness one which do
not decrease thickness to first order is finitely generated, and give an
explicit set of generators. Using this cone we give a first-order minimization
procedure and a Karush-Kuhn-Tucker criterion for polygonal ropelength
criticality.
Our main numerical contribution is a set of 379 almost-critical prime knots
and links, covering all prime knots with no more than 10 crossings and all
prime links with no more than 9 crossings. For links, these are the first
published ropelength figures, and for knots they improve on existing figures.
We give new maps of the self-contacts of these knots and links, and discover
some highly symmetric tight knots with particularly simple looking self-contact
maps.Comment: 45 pages, 16 figures, includes table of data with upper bounds on
ropelength for all prime knots with no more than 10 crossings and all prime
links with no more than 9 crossing
An infeasible interior-point arc-search method with Nesterov's restarting strategy for linear programming problems
An arc-search interior-point method is a type of interior-point methods that
approximates the central path by an ellipsoidal arc, and it can often reduce
the number of iterations. In this work, to further reduce the number of
iterations and computation time for solving linear programming problems, we
propose two arc-search interior-point methods using Nesterov's restarting
strategy that is well-known method to accelerate the gradient method with a
momentum term. The first one generates a sequence of iterations in the
neighborhood, and we prove that the convergence of the generated sequence to an
optimal solution and the computation complexity is polynomial time. The second
one incorporates the concept of the Mehrotra-type interior-point method to
improve numerical performance. The numerical experiments demonstrate that the
second one reduced the number of iterations and computational time. In
particular, the average number of iterations was reduced compared to existing
interior-point methods due to the momentum term.Comment: 33 pages, 6 figures, 2 table
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