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Sparse Optimization for Robust and Efficient Loop Closing
[article]
2017
arXiv
pre-print
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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
2001
IEEE Transactions on Control Systems Technology
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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
2012
2012 IEEE International Conference on Robotics and Automation
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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
2014
Robotics: Science and Systems X
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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
2020
IEEE Control Systems Letters
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"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]
2018
arXiv
pre-print
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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
2010
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
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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
2018
IEEE Robotics and Automation Letters
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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]
2018
arXiv
pre-print
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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
2015
2015 IEEE Conference on Computer Vision and Pattern Recognition (CVPR)
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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)
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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]
2022
arXiv
pre-print
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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
2019
IEEE Robotics and Automation Letters
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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
2021
Journal of Sensors
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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
2018
IFAC-PapersOnLine
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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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