5 papers · 1 filter
Parallelizable Riemannian Alternating Direction Method of Multipliers for Non-convex Pose Graph Optimization
Xin Chen, Chunfeng Cui, Deren Han +1
Pose graph optimization (PGO) is fundamental to robot perception and navigation systems, serving as the mathematical backbone for solving simultaneous localization and mapping (SLA…
A Single-loop Proximal Subgradient Algorithm for A Class Structured Fractional Programs
Deren Han, Min Tao, Zihao Xia
In this paper, we investigate a class of nonconvex and nonsmooth fractional programming problems, where the numerator composed of two parts: a convex, nonsmooth function and a diff…
Extended alternating structure-adapted proximal gradient algorithm for nonconvex nonsmooth problems
Ying Gao, Chunfeng Cui, Wenxing Zhang +1
Alternating structure-adapted proximal (ASAP) gradient algorithm (M. Nikolova and P. Tan, SIAM J Optim, 29:2053-2078, 2019) has drawn much attention due to its efficiency in solvin…
Non-convex Pose Graph Optimization in SLAM via Proximal Linearized Riemannian ADMM
Xin Chen, Chunfeng Cui, Deren Han +1
Pose graph optimization (PGO) is a well-known technique for solving the pose-based simultaneous localization and mapping (SLAM) problem. In this paper, we represent the rotation an…
A Bregman Proximal Stochastic Gradient Method with Extrapolation for Nonconvex Nonsmooth Problems
Qingsong Wang, Zehui Liu, Chunfeng Cui +1
In this paper, we explore a specific optimization problem that involves the combination of a differentiable nonconvex function and a nondifferentiable function. The differentiable…