19,929 research outputs found
Energy-Efficient Multi-View Video Transmission with View Synthesis-Enabled Multicast
Multi-view videos (MVVs) provide immersive viewing experience, at the cost of
heavy load to wireless networks. Except for further improving viewing
experience, view synthesis can create multicast opportunities for efficient
transmission of MVVs in multiuser wireless networks, which has not been
recognized in existing literature. In this paper, we would like to exploit view
synthesis-enabled multicast opportunities for energy-efficient MVV transmission
in a multiuser wireless network. Specifically, we first establish a
mathematical model to characterize the impact of view synthesis on multicast
opportunities and energy consumption. Then, we consider the optimization of
view selection, transmission time and power allocation to minimize the weighted
sum energy consumption for view transmission and synthesis, which is a
challenging mixed discrete-continuous optimization problem. We propose an
algorithm to obtain an optimal solution with reduced computational complexity
by exploiting optimality properties. To further reduce computational
complexity, we also propose two low-complexity algorithms to obtain two
suboptimal solutions, based on continuous relaxation and Difference of Convex
(DC) programming, respectively. Finally, numerical results demonstrate the
advantage of the proposed solutions.Comment: 22 pages, 6 figures, to be published in GLOBECOM 201
Submodular relaxation for inference in Markov random fields
In this paper we address the problem of finding the most probable state of a
discrete Markov random field (MRF), also known as the MRF energy minimization
problem. The task is known to be NP-hard in general and its practical
importance motivates numerous approximate algorithms. We propose a submodular
relaxation approach (SMR) based on a Lagrangian relaxation of the initial
problem. Unlike the dual decomposition approach of Komodakis et al., 2011 SMR
does not decompose the graph structure of the initial problem but constructs a
submodular energy that is minimized within the Lagrangian relaxation. Our
approach is applicable to both pairwise and high-order MRFs and allows to take
into account global potentials of certain types. We study theoretical
properties of the proposed approach and evaluate it experimentally.Comment: This paper is accepted for publication in IEEE Transactions on
Pattern Analysis and Machine Intelligenc
Modeling Perceptual Aliasing in SLAM via Discrete-Continuous Graphical Models
Perceptual aliasing is one of the main causes of failure for Simultaneous
Localization and Mapping (SLAM) systems operating in the wild. Perceptual
aliasing is the phenomenon where different places generate a similar visual
(or, in general, perceptual) footprint. This causes spurious measurements to be
fed to the SLAM estimator, which typically results in incorrect localization
and mapping results. The problem is exacerbated by the fact that those outliers
are highly correlated, in the sense that perceptual aliasing creates a large
number of mutually-consistent outliers. Another issue stems from the fact that
most state-of-the-art techniques rely on a given trajectory guess (e.g., from
odometry) to discern between inliers and outliers and this makes the resulting
pipeline brittle, since the accumulation of error may result in incorrect
choices and recovery from failures is far from trivial. This work provides a
unified framework to model perceptual aliasing in SLAM and provides practical
algorithms that can cope with outliers without relying on any initial guess. We
present two main contributions. The first is a Discrete-Continuous Graphical
Model (DC-GM) for SLAM: the continuous portion of the DC-GM captures the
standard SLAM problem, while the discrete portion describes the selection of
the outliers and models their correlation. The second contribution is a
semidefinite relaxation to perform inference in the DC-GM that returns
estimates with provable sub-optimality guarantees. Experimental results on
standard benchmarking datasets show that the proposed technique compares
favorably with state-of-the-art methods while not relying on an initial guess
for optimization.Comment: 13 pages, 14 figures, 1 tabl
Sublabel-Accurate Relaxation of Nonconvex Energies
We propose a novel spatially continuous framework for convex relaxations
based on functional lifting. Our method can be interpreted as a
sublabel-accurate solution to multilabel problems. We show that previously
proposed functional lifting methods optimize an energy which is linear between
two labels and hence require (often infinitely) many labels for a faithful
approximation. In contrast, the proposed formulation is based on a piecewise
convex approximation and therefore needs far fewer labels. In comparison to
recent MRF-based approaches, our method is formulated in a spatially continuous
setting and shows less grid bias. Moreover, in a local sense, our formulation
is the tightest possible convex relaxation. It is easy to implement and allows
an efficient primal-dual optimization on GPUs. We show the effectiveness of our
approach on several computer vision problems
Continuous Multiclass Labeling Approaches and Algorithms
We study convex relaxations of the image labeling problem on a continuous
domain with regularizers based on metric interaction potentials. The generic
framework ensures existence of minimizers and covers a wide range of
relaxations of the originally combinatorial problem. We focus on two specific
relaxations that differ in flexibility and simplicity -- one can be used to
tightly relax any metric interaction potential, while the other one only covers
Euclidean metrics but requires less computational effort. For solving the
nonsmooth discretized problem, we propose a globally convergent
Douglas-Rachford scheme, and show that a sequence of dual iterates can be
recovered in order to provide a posteriori optimality bounds. In a quantitative
comparison to two other first-order methods, the approach shows competitive
performance on synthetical and real-world images. By combining the method with
an improved binarization technique for nonstandard potentials, we were able to
routinely recover discrete solutions within 1%--5% of the global optimum for
the combinatorial image labeling problem
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