95 research outputs found
Robust Obstacle Detection based on Dense Disparity Maps
Obstacle detection is an important component for many autonomous vehicle navigation systems. Several methods for obstacle detection have been proposed using various active sensors such as radar, sonar and laser range finders. Vision based techniques have the advantage of low cost and provide a large amount of information about the environment around an intelligent vehicle. This paper deals with the development of an accurate and efficient vision based obstacle detection method which relies on a wavelet analysis. The development system will be integrated on the Cybercar platform which is a road vehicle with fully automated driving capabilities
Templates for Convex Cone Problems with Applications to Sparse Signal Recovery
This paper develops a general framework for solving a variety of convex cone
problems that frequently arise in signal processing, machine learning,
statistics, and other fields. The approach works as follows: first, determine a
conic formulation of the problem; second, determine its dual; third, apply
smoothing; and fourth, solve using an optimal first-order method. A merit of
this approach is its flexibility: for example, all compressed sensing problems
can be solved via this approach. These include models with objective
functionals such as the total-variation norm, ||Wx||_1 where W is arbitrary, or
a combination thereof. In addition, the paper also introduces a number of
technical contributions such as a novel continuation scheme, a novel approach
for controlling the step size, and some new results showing that the smooth and
unsmoothed problems are sometimes formally equivalent. Combined with our
framework, these lead to novel, stable and computationally efficient
algorithms. For instance, our general implementation is competitive with
state-of-the-art methods for solving intensively studied problems such as the
LASSO. Further, numerical experiments show that one can solve the Dantzig
selector problem, for which no efficient large-scale solvers exist, in a few
hundred iterations. Finally, the paper is accompanied with a software release.
This software is not a single, monolithic solver; rather, it is a suite of
programs and routines designed to serve as building blocks for constructing
complete algorithms.Comment: The TFOCS software is available at http://tfocs.stanford.edu This
version has updated reference
Convergence and Perturbation Resilience of Dynamic String-Averaging Projection Methods
We consider the convex feasibility problem (CFP) in Hilbert space and
concentrate on the study of string-averaging projection (SAP) methods for the
CFP, analyzing their convergence and their perturbation resilience. In the
past, SAP methods were formulated with a single predetermined set of strings
and a single predetermined set of weights. Here we extend the scope of the
family of SAP methods to allow iteration-index-dependent variable strings and
weights and term such methods dynamic string-averaging projection (DSAP)
methods. The bounded perturbation resilience of DSAP methods is relevant and
important for their possible use in the framework of the recently developed
superiorization heuristic methodology for constrained minimization problems.Comment: Computational Optimization and Applications, accepted for publicatio
Implementation of an Optimal First-Order Method for Strongly Convex Total Variation Regularization
We present a practical implementation of an optimal first-order method, due
to Nesterov, for large-scale total variation regularization in tomographic
reconstruction, image deblurring, etc. The algorithm applies to -strongly
convex objective functions with -Lipschitz continuous gradient. In the
framework of Nesterov both and are assumed known -- an assumption
that is seldom satisfied in practice. We propose to incorporate mechanisms to
estimate locally sufficient and during the iterations. The mechanisms
also allow for the application to non-strongly convex functions. We discuss the
iteration complexity of several first-order methods, including the proposed
algorithm, and we use a 3D tomography problem to compare the performance of
these methods. The results show that for ill-conditioned problems solved to
high accuracy, the proposed method significantly outperforms state-of-the-art
first-order methods, as also suggested by theoretical results.Comment: 23 pages, 4 figure
Fractal Image Coding as Projections Onto Convex Sets
Abstract. We show how fractal image coding can be viewed and gen-eralized in terms of the method of projections onto convex sets (POCS). In this approach, the fractal code denes a set of spatial domain sim-ilarity constraints. We also show how such a reformulation in terms of POCS allows additional contraints to be imposed during fractal image decoding. Two applications are presented: image construction with an incomplete fractal code and image denoising.
Accelerated Projected Gradient Method for Linear Inverse Problems with Sparsity Constraints
Regularization of ill-posed linear inverse problems via penalization
has been proposed for cases where the solution is known to be (almost) sparse.
One way to obtain the minimizer of such an penalized functional is via
an iterative soft-thresholding algorithm. We propose an alternative
implementation to -constraints, using a gradient method, with
projection on -balls. The corresponding algorithm uses again iterative
soft-thresholding, now with a variable thresholding parameter. We also propose
accelerated versions of this iterative method, using ingredients of the
(linear) steepest descent method. We prove convergence in norm for one of these
projected gradient methods, without and with acceleration.Comment: 24 pages, 5 figures. v2: added reference, some amendments, 27 page
Prox-regularity of rank constraint sets and implications for algorithms
We present an analysis of sets of matrices with rank less than or equal to a
specified number . We provide a simple formula for the normal cone to such
sets, and use this to show that these sets are prox-regular at all points with
rank exactly equal to . The normal cone formula appears to be new. This
allows for easy application of prior results guaranteeing local linear
convergence of the fundamental alternating projection algorithm between sets,
one of which is a rank constraint set. We apply this to show local linear
convergence of another fundamental algorithm, approximate steepest descent. Our
results apply not only to linear systems with rank constraints, as has been
treated extensively in the literature, but also nonconvex systems with rank
constraints.Comment: 12 pages, 24 references. Revised manuscript to appear in the Journal
of Mathematical Imaging and Visio
Low Complexity Regularization of Linear Inverse Problems
Inverse problems and regularization theory is a central theme in contemporary
signal processing, where the goal is to reconstruct an unknown signal from
partial indirect, and possibly noisy, measurements of it. A now standard method
for recovering the unknown signal is to solve a convex optimization problem
that enforces some prior knowledge about its structure. This has proved
efficient in many problems routinely encountered in imaging sciences,
statistics and machine learning. This chapter delivers a review of recent
advances in the field where the regularization prior promotes solutions
conforming to some notion of simplicity/low-complexity. These priors encompass
as popular examples sparsity and group sparsity (to capture the compressibility
of natural signals and images), total variation and analysis sparsity (to
promote piecewise regularity), and low-rank (as natural extension of sparsity
to matrix-valued data). Our aim is to provide a unified treatment of all these
regularizations under a single umbrella, namely the theory of partial
smoothness. This framework is very general and accommodates all low-complexity
regularizers just mentioned, as well as many others. Partial smoothness turns
out to be the canonical way to encode low-dimensional models that can be linear
spaces or more general smooth manifolds. This review is intended to serve as a
one stop shop toward the understanding of the theoretical properties of the
so-regularized solutions. It covers a large spectrum including: (i) recovery
guarantees and stability to noise, both in terms of -stability and
model (manifold) identification; (ii) sensitivity analysis to perturbations of
the parameters involved (in particular the observations), with applications to
unbiased risk estimation ; (iii) convergence properties of the forward-backward
proximal splitting scheme, that is particularly well suited to solve the
corresponding large-scale regularized optimization problem
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