300 research outputs found
Testing the Nullspace Property using Semidefinite Programming
Recent results in compressed sensing show that, under certain conditions, the
sparsest solution to an underdetermined set of linear equations can be
recovered by solving a linear program. These results either rely on computing
sparse eigenvalues of the design matrix or on properties of its nullspace. So
far, no tractable algorithm is known to test these conditions and most current
results rely on asymptotic properties of random matrices. Given a matrix A, we
use semidefinite relaxation techniques to test the nullspace property on A and
show on some numerical examples that these relaxation bounds can prove perfect
recovery of sparse solutions with relatively high cardinality.Comment: Some typos corrected in Section 4.
The Computational Complexity of the Restricted Isometry Property, the Nullspace Property, and Related Concepts in Compressed Sensing
This paper deals with the computational complexity of conditions which
guarantee that the NP-hard problem of finding the sparsest solution to an
underdetermined linear system can be solved by efficient algorithms. In the
literature, several such conditions have been introduced. The most well-known
ones are the mutual coherence, the restricted isometry property (RIP), and the
nullspace property (NSP). While evaluating the mutual coherence of a given
matrix is easy, it has been suspected for some time that evaluating RIP and NSP
is computationally intractable in general. We confirm these conjectures by
showing that for a given matrix A and positive integer k, computing the best
constants for which the RIP or NSP hold is, in general, NP-hard. These results
are based on the fact that determining the spark of a matrix is NP-hard, which
is also established in this paper. Furthermore, we also give several complexity
statements about problems related to the above concepts.Comment: 13 pages; accepted for publication in IEEE Trans. Inf. Theor
Convex Global 3D Registration with Lagrangian Duality
The registration of 3D models by a Euclidean transformation is a fundamental task at the core of many application in computer vision. This problem is non-convex due to the presence of rotational constraints, making traditional local optimization methods prone to getting stuck in local minima. This paper addresses finding the globally optimal transformation in various 3D registration problems by a unified formulation that integrates common geometric registration modalities (namely point-to-point, point-to-line and point-to-plane). This formulation renders the optimization problem independent of both the number and nature of the correspondences.
The main novelty of our proposal is the introduction of a strengthened Lagrangian dual relaxation for this problem, which surpasses previous similar approaches [32] in effectiveness.
In fact, even though with no theoretical guarantees, exhaustive empirical evaluation in both synthetic and real experiments always resulted on a tight relaxation that allowed to recover a guaranteed globally optimal solution by exploiting duality theory.
Thus, our approach allows for effectively solving the 3D registration with global optimality guarantees while running at a fraction of the time for the state-of-the-art alternative [34], based on a more computationally intensive Branch and Bound method.Universidad de Málaga. Campus de Excelencia Internacional AndalucÃa Tech
Using constraint preconditioners with regularized saddle-point problems
The problem of finding good preconditioners for the numerical solution of a certain important class of indefinite linear systems is considered. These systems are of a 2 by 2 block (KKT) structure in which the (2,2) block (denoted by -C) is assumed to be nonzero. In Constraint preconditioning for indefinite linear systems , SIAM J. Matrix Anal. Appl., 21 (2000), Keller, Gould and Wathen introduced the idea of using constraint preconditioners that have a specific 2 by 2 block structure for the case of C being zero. We shall give results concerning the spectrum and form of the eigenvectors when a preconditioner of the form considered by Keller, Gould and Wathen is used but the system we wish to solve may have C \neq 0 . In particular, the results presented here indicate clustering of eigenvalues and, hence, faster convergence of Krylov subspace iterative methods when the entries of C are small; such situations arise naturally in interior point methods for optimization and we present results for such problems which validate our conclusions.\ud
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The first author's work was supported by the OUCL Doctorial Training Accoun
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
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