Convex Integer Optimization by Constantly Many Linear Counterparts

In this article we study convex integer maximization problems with composite objective functions of the form $f(Wx)$, where $f$ is a convex function on $\R^d$ and $W$ is a $d\times n$ matrix with small or binary entries, over finite sets $S\subset \Z^n$ of integer points presented by an oracle or by linear inequalities. Continuing the line of research advanced by Uri Rothblum and his colleagues on edge-directions, we introduce here the notion of {\em edge complexity} of $S$, and use it to establish polynomial and constant upper bounds on the number of vertices of the projection \conv(WS) and on the number of linear optimization counterparts needed to solve the above convex problem. Two typical consequences are the following. First, for any $d$, there is a constant $m(d)$ such that the maximum number of vertices of the projection of any matroid $S\subset\{0,1\}^n$ by any binary $d\times n$ matrix $W$ is $m(d)$ regardless of $n$ and $S$; and the convex matroid problem reduces to $m(d)$ greedily solvable linear counterparts. In particular, $m(2)=8$. Second, for any $d,l,m$, there is a constant $t(d;l,m)$ such that the maximum number of vertices of the projection of any three-index $l\times m\times n$ transportation polytope for any $n$ by any binary $d\times(l\times m\times n)$ matrix $W$ is $t(d;l,m)$; and the convex three-index transportation problem reduces to $t(d;l,m)$ linear counterparts solvable in polynomial time

Attention and Anticipation in Fast Visual-Inertial Navigation

We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the robot can allocate limited resources to VIN, due to tight computational constraints. Therefore, we answer the following question: under limited resources, what are the most relevant visual cues to maximize the performance of visual-inertial navigation? Our approach has four key ingredients. First, it is task-driven, in that the selection of the visual cues is guided by a metric quantifying the VIN performance. Second, it exploits the notion of anticipation, since it uses a simplified model for forward-simulation of robot dynamics, predicting the utility of a set of visual cues over a future time horizon. Third, it is efficient and easy to implement, since it leads to a greedy algorithm for the selection of the most relevant visual cues. Fourth, it provides formal performance guarantees: we leverage submodularity to prove that the greedy selection cannot be far from the optimal (combinatorial) selection. Simulations and real experiments on agile drones show that our approach ensures state-of-the-art VIN performance while maintaining a lean processing time. In the easy scenarios, our approach outperforms appearance-based feature selection in terms of localization errors. In the most challenging scenarios, it enables accurate visual-inertial navigation while appearance-based feature selection fails to track robot's motion during aggressive maneuvers.Comment: 20 pages, 7 figures, 2 table