8,398 research outputs found
Stable Camera Motion Estimation Using Convex Programming
We study the inverse problem of estimating n locations (up to
global scale, translation and negation) in from noisy measurements of a
subset of the (unsigned) pairwise lines that connect them, that is, from noisy
measurements of for some pairs (i,j) (where the
signs are unknown). This problem is at the core of the structure from motion
(SfM) problem in computer vision, where the 's represent camera locations
in . The noiseless version of the problem, with exact line measurements,
has been considered previously under the general title of parallel rigidity
theory, mainly in order to characterize the conditions for unique realization
of locations. For noisy pairwise line measurements, current methods tend to
produce spurious solutions that are clustered around a few locations. This
sensitivity of the location estimates is a well-known problem in SfM,
especially for large, irregular collections of images.
In this paper we introduce a semidefinite programming (SDP) formulation,
specially tailored to overcome the clustering phenomenon. We further identify
the implications of parallel rigidity theory for the location estimation
problem to be well-posed, and prove exact (in the noiseless case) and stable
location recovery results. We also formulate an alternating direction method to
solve the resulting semidefinite program, and provide a distributed version of
our formulation for large numbers of locations. Specifically for the camera
location estimation problem, we formulate a pairwise line estimation method
based on robust camera orientation and subspace estimation. Lastly, we
demonstrate the utility of our algorithm through experiments on real images.Comment: 40 pages, 12 figures, 6 tables; notation and some unclear parts
updated, some typos correcte
Conic Optimization Theory: Convexification Techniques and Numerical Algorithms
Optimization is at the core of control theory and appears in several areas of
this field, such as optimal control, distributed control, system
identification, robust control, state estimation, model predictive control and
dynamic programming. The recent advances in various topics of modern
optimization have also been revamping the area of machine learning. Motivated
by the crucial role of optimization theory in the design, analysis, control and
operation of real-world systems, this tutorial paper offers a detailed overview
of some major advances in this area, namely conic optimization and its emerging
applications. First, we discuss the importance of conic optimization in
different areas. Then, we explain seminal results on the design of hierarchies
of convex relaxations for a wide range of nonconvex problems. Finally, we study
different numerical algorithms for large-scale conic optimization problems.Comment: 18 page
In-network Sparsity-regularized Rank Minimization: Algorithms and Applications
Given a limited number of entries from the superposition of a low-rank matrix
plus the product of a known fat compression matrix times a sparse matrix,
recovery of the low-rank and sparse components is a fundamental task subsuming
compressed sensing, matrix completion, and principal components pursuit. This
paper develops algorithms for distributed sparsity-regularized rank
minimization over networks, when the nuclear- and -norm are used as
surrogates to the rank and nonzero entry counts of the sought matrices,
respectively. While nuclear-norm minimization has well-documented merits when
centralized processing is viable, non-separability of the singular-value sum
challenges its distributed minimization. To overcome this limitation, an
alternative characterization of the nuclear norm is adopted which leads to a
separable, yet non-convex cost minimized via the alternating-direction method
of multipliers. The novel distributed iterations entail reduced-complexity
per-node tasks, and affordable message passing among single-hop neighbors.
Interestingly, upon convergence the distributed (non-convex) estimator provably
attains the global optimum of its centralized counterpart, regardless of
initialization. Several application domains are outlined to highlight the
generality and impact of the proposed framework. These include unveiling
traffic anomalies in backbone networks, predicting networkwide path latencies,
and mapping the RF ambiance using wireless cognitive radios. Simulations with
synthetic and real network data corroborate the convergence of the novel
distributed algorithm, and its centralized performance guarantees.Comment: 30 pages, submitted for publication on the IEEE Trans. Signal Proces
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