22,192 research outputs found
C-HiLasso: A Collaborative Hierarchical Sparse Modeling Framework
Sparse modeling is a powerful framework for data analysis and processing.
Traditionally, encoding in this framework is performed by solving an
L1-regularized linear regression problem, commonly referred to as Lasso or
Basis Pursuit. In this work we combine the sparsity-inducing property of the
Lasso model at the individual feature level, with the block-sparsity property
of the Group Lasso model, where sparse groups of features are jointly encoded,
obtaining a sparsity pattern hierarchically structured. This results in the
Hierarchical Lasso (HiLasso), which shows important practical modeling
advantages. We then extend this approach to the collaborative case, where a set
of simultaneously coded signals share the same sparsity pattern at the higher
(group) level, but not necessarily at the lower (inside the group) level,
obtaining the collaborative HiLasso model (C-HiLasso). Such signals then share
the same active groups, or classes, but not necessarily the same active set.
This model is very well suited for applications such as source identification
and separation. An efficient optimization procedure, which guarantees
convergence to the global optimum, is developed for these new models. The
underlying presentation of the new framework and optimization approach is
complemented with experimental examples and theoretical results regarding
recovery guarantees for the proposed models
C-blox: A Scalable and Consistent TSDF-based Dense Mapping Approach
In many applications, maintaining a consistent dense map of the environment
is key to enabling robotic platforms to perform higher level decision making.
Several works have addressed the challenge of creating precise dense 3D maps
from visual sensors providing depth information. However, during operation over
longer missions, reconstructions can easily become inconsistent due to
accumulated camera tracking error and delayed loop closure. Without explicitly
addressing the problem of map consistency, recovery from such distortions tends
to be difficult. We present a novel system for dense 3D mapping which addresses
the challenge of building consistent maps while dealing with scalability.
Central to our approach is the representation of the environment as a
collection of overlapping TSDF subvolumes. These subvolumes are localized
through feature-based camera tracking and bundle adjustment. Our main
contribution is a pipeline for identifying stable regions in the map, and to
fuse the contributing subvolumes. This approach allows us to reduce map growth
while still maintaining consistency. We demonstrate the proposed system on a
publicly available dataset and simulation engine, and demonstrate the efficacy
of the proposed approach for building consistent and scalable maps. Finally we
demonstrate our approach running in real-time on-board a lightweight MAV.Comment: 8 pages, 5 figures, conferenc
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