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Sparse Optimization for Robust and Efficient Loop Closing [article]

Yasir Latif, Guoquan Huang, John Leonard, Jose Neira
2017 arXiv   pre-print
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely,  ...  By leveraging fast convex optimization techniques, we are able to efficiently find loop closures, thus enabling real-time robot navigation.  ...  Sparse Optimization for Loop Closure In this section, we formulate loop-closure detection as a sparse optimization problem based on a sparse and redundant representation.  ... 
arXiv:1701.08921v1 fatcat:p2wvnwun6rcuzkfo7odib3h7ce

Controller realizations of a teleoperated dual-wrist assembly system with finite word length considerations

R.S.H. Istepanian, Jun Wu, J.F. Whidborne
2001 IEEE Transactions on Control Systems Technology  
The relevant stability robustness measures and the optimization search procedures for both the optimal and the quasioptimal sparse Finite Word Length (FWL) controller realizations are described.  ...  This paper presents some implementation issues of finite-precision optimal and quasioptimal sparse controller structures applied to a teleoperated dual-wrist assembly system.  ...  Salcudean of the University of British Columbia for details of the teleoperation dualwrist assembly system.  ... 
doi:10.1109/87.930973 fatcat:gcgtghltsbfejahoxtp6saco3m

Towards a robust back-end for pose graph SLAM

Niko Sunderhauf, Peter Protzel
2012 2012 IEEE International Conference on Robotics and Automation  
ACKNOWLEDGEMENTS We thank Michael Milford from Queensland University of Technology for providing the St. Lucia video footage that was presented in his paper [24] .  ...  This largely increases the overall robustness of the SLAM system and closes a gap between the sensor-driven front-end and the back-end optimizers.  ...  efficient algorithms for solving the underlying optimization problems are now available.  ... 
doi:10.1109/icra.2012.6224709 dblp:conf/icra/SunderhaufP12 fatcat:73xbui5qezfc5c6gwmwo6cc22e

An Online Sparsity-Cognizant Loop-Closure Algorithm for Visual Navigation

Yasir Latif, Guoquan Huang, John Leonard, Jose Neira
2014 Robotics: Science and Systems X  
By leveraging on fast convex optimization techniques, we are able to efficiently find loop closures, thus enabling real-time robot navigation.  ...  It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.  ...  N00014-13-1-0588, and by NSF award IIS-1318392.  ... 
doi:10.15607/rss.2014.x.036 dblp:conf/rss/LatifHLN14 fatcat:op6qnsny3ffj5aapzl6lhxptpm

Guest Editorial Introduction to the Special Issue of the IEEE L-CSS on Learning and Control

Giovanni Cherubini, Martin Guay, Sophie Tarbouriech, Kartik Ariyur, Mireille E. Broucke, Subhrakanti Dey, Christian Ebenbauer, Paolo Frasca, Bahman Gharesifard, Antoine Girard, Joao Manoel Gomes da Silva, Lars Grune (+5 others)
2020 IEEE Control Systems Letters  
"Approximate Closed-Loop Robust Model Predictive Control With Guaranteed Stability and Constraint Satisfaction": Paulson and Mesbah address the real-time implementation of closed-loop robust MPC schemes  ...  "Torque Vectoring for High-Performance Electric Vehicles: An Efficient MPC Calibration": Lucchini, Formentin, Corno, Piga, and Savaresi present a Bayesian procedure for the efficient tuning of MPC parameters  ... 
doi:10.1109/lcsys.2020.2986590 fatcat:wx42r4h6ond3dkjntcwsdrmojy

LoopSmart: Smart Visual SLAM Through Surface Loop Closure [article]

Guoxiang Zhang, YangQuan Chen
2018 arXiv   pre-print
Sparse feature matching is used for visual odometry and globally camera pose fine-tuning when dense loops are detected, while dense surface alignment is the way of closing large loops and solving surface  ...  We present a visual simultaneous localization and mapping (SLAM) framework of closing surface loops. It combines both sparse feature matching and dense surface alignment.  ...  ACKNOWLEDGMENT We thank Mighty Chen and Kevin Ong for their help in converting format of RGB-D data.  ... 
arXiv:1801.01572v1 fatcat:pt7qj3pwzvhilbnercfgjaq6sa

Efficient Sparse Pose Adjustment for 2D mapping

K Konolige, G Grisetti, Rainer Kümmerle, W Burgard, B Limketkai, R Vincent
2010 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems  
In this paper, we propose an efficient method for constructing and solving the linear subproblem, which is the bottleneck of these direct methods.  ...  Optimizing large pose graphs has been a bottleneck for mobile robots, since the computation time of direct nonlinear optimization can grow cubically with the size of the graph.  ...  SPARSE POSE ADJUSTMENT To optimize a set of poses and constraints, we use the wellknown Levenberg-Marquardt (LM) method as a framework, with particular implementations that make it efficient for the sparse  ... 
doi:10.1109/iros.2010.5649043 dblp:conf/iros/KonoligeGKBLV10 fatcat:44slejiffzh4xbohbab26kaebm

Robust Incremental SLAM Under Constrained Optimization Formulation

Fang Bai, Teresa Vidal-Calleja, Shoudong Huang
2018 IEEE Robotics and Automation Letters  
In this paper, we propose a constrained optimization formulation of SLAM and a robust incremental SLAM framework.  ...  Nonetheless, the proposed approach is currently confined to datasets with sparse loop-closures due to its computational cost.  ...  The sparse NLS based solvers are rather efficient, however at the peril of occasionally converging to local minima (Fig. 1b ).  ... 
doi:10.1109/lra.2018.2794610 dblp:journals/ral/BaiVH18 fatcat:dienpq2krzg4jl3x3funbkfl2m

Multi-session Map Construction in Outdoor Dynamic Environment [article]

Xiaqing Ding, Yue Wang, Huan Yin, Li Tang, Rong Xiong
2018 arXiv   pre-print
To efficiently align the maps from different sessions, a laser-based loop closure detection method is integrated and the sequential information within the submaps is utilized for higher robustness.  ...  We test the method in the real-world environment with a VLP-16 Velodyne LiDAR and the experimental results prove the validity and robustness of the proposed method.  ...  ACKNOWLEDGMENT We would like to thank the author of [11] for releasing the codes of the modular library libpointmathcer 1 .  ... 
arXiv:1807.08098v1 fatcat:tcejfgnie5gdzcdbadfwqzvf34

Scalable structure from motion for densely sampled videos

B. Resch, H. P. A. Lensch, O. Wang, M. Pollefeys, A. Sorkine-Hornung
2015 2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)  
multi-loop closing, and utilizing efficient global linear camera pose estimation in order to link both consecutive and distant bundle adjustment windows.  ...  In addition, our approach can robustly integrate data from different video sequences, allowing multiple video streams to be simultaneously calibrated in an efficient and globally optimal way.  ...  These original methods were designed for short, low resolution video sequences and did not consider multi-loop closing.  ... 
doi:10.1109/cvpr.2015.7299019 dblp:conf/cvpr/ReschLWPS15 fatcat:z4zn5l2owrflzpuhthsrulrbbe

Optimizing stability bounds of finite-precision PID controllers using adaptive simulated annealing

1999 Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251)  
An efficient strategy based on adaptive simulated annealing (ASA) is adopted to solve this complex optimization problem.  ...  A numerical example of optimizing the finite-precision PID controller for a steel rolling mill system is used to demonstrate the effectiveness of the proposed method.  ...  and the sparseness consideration of optimal controller realizations.  ... 
doi:10.1109/acc.1999.786381 fatcat:k2rea2wvybd7jokuco3t6ynkwu

Theseus: A Library for Differentiable Nonlinear Optimization [article]

Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos (+1 others)
2022 arXiv   pre-print
For efficiency, Theseus incorporates support for sparse solvers, automatic vectorization, batching, GPU acceleration, and gradient computation with implicit differentiation and direct loss minimization  ...  We present Theseus, an efficient application-agnostic open source library for differentiable nonlinear least squares (DNLS) optimization built on PyTorch, providing a common framework for end-to-end structured  ...  Acknowledgments The authors would like to thank Dhruv Batra, Olivier Delalleau, Jessica Hodgins, and Mary Williamson for guidance and support on the project, Dhruv Batra and Sal Candido for feedback on  ... 
arXiv:2207.09442v1 fatcat:czuki7d7bra6zk2w4dsdte2oc4

Loosely-Coupled Semi-Direct Monocular SLAM

Seong Hun Lee, Javier Civera
2019 IEEE Robotics and Automation Letters  
and motion, (2) geometric BA that refines keyframe poses and associated feature map points, and (3) pose graph optimization to achieve global map consistency in the presence of loop closures.  ...  We propose a novel semi-direct approach for monocular simultaneous localization and mapping (SLAM) that combines the complementary strengths of direct and feature-based methods.  ...  . • ORB-VO and ORB-SLAM: For the VO setting, we disable the loop closing thread. Relocalization is disabled for both settings to evaluate the tracking robustness.  ... 
doi:10.1109/lra.2018.2889156 fatcat:twk6bmu42nfbfk4rl2oiynuva4

Visual and Visual-Inertial SLAM: State of the Art, Classification, and Experimental Benchmarking

Myriam Servières, Valérie Renaudin, Alexis Dupuis, Nicolas Antigny, Stelios M. Potirakis
2021 Journal of Sensors  
A detailed analysis of the computation results identifies the strengths and weaknesses for each method.  ...  Finally, the performance of vSLAM is experimentally assessed for the use case of pedestrian pose estimation with a handheld device in urban environments.  ...  Acknowledgments This work was funded by IRSTV, IFSTTAR, and ECN. Supplementary Materials The IRSTV dataset is provided as supplementary material. (Supplementary Materials)  ... 
doi:10.1155/2021/2054828 fatcat:46q54mmpw5eethadiovdb4ay7y

Data-driven Scenario Selection for Multistage Robust Model Predictive Control

Dinesh Krishnamoorthy, Mandar Thombre, Sigurd Skogestad, Johannes Jäschke
2018 IFAC-PapersOnLine  
A main assumption in many works considering multistage model predictive control (MPC) is that discrete realizations of the uncertainty are chosen a-priori and that the scenario tree is given.  ...  Using this approach, the scenarios are carefully selected such that the conservativeness of the solution can be reduced while still maintaining robustness towards constraint feasibility.  ...  One such closed-loop optimization strategy is the multistage scenario MPC also known as feedback minmax MPC or scenario-tree MPC (Scokaert and Mayne, 1998; .  ... 
doi:10.1016/j.ifacol.2018.11.046 fatcat:mhtbxnvfo5gnpjoem73c7x4mia
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