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05/11/2023
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment
Scaling to arbitrarily large bundle adjustment problems requires data an...
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07/19/2022
Theseus: A Library for Differentiable Nonlinear Optimization
We present Theseus, an efficient application-agnostic open source librar...
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07/30/2021
Majorization Minimization Methods for Distributed Pose Graph Optimization
We consider the problem of distributed pose graph optimization (PGO) tha...
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05/28/2021
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
We propose a novel sparse constrained formulation and from it derive a r...
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12/04/2020
Generalized Proximal Methods for Pose Graph Optimization
In this paper, we generalize proximal methods that were originally desig...
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06/25/2020
CPL-SLAM: Efficient and Certifiably Correct Planar Graph-Based SLAM Using the Complex Number Representation
In this paper, we consider the problem of planar graph-based simultaneou...
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03/11/2020
Majorization Minimization Methods to Distributed Pose Graph Optimization with Convergence Guarantees
In this paper, we consider the problem of distributed pose graph optimiz...
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04/29/2019