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Optimization
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Paper read with more formula derivation: Semidefinite Programming
Paper read with more formula derivation: Semidefinite Programming1. Introduction1.1 SDP2. Duality2.1 Derivation2.2 Duality gap2.3 Optimal condition2.4 Example3. Primal Dual formulation4. Interior-point method4.1 Barrier function4.1.1 Derivative4.1.2 LP exa原创 2020-06-17 14:45:45 · 309 阅读 · 0 评论 -
Paper read :on the unificationof line process,outlier rejection and robust statistics
Paper read :on the unificationof line process,outlier rejection and robust statistics1. Total variance reconstruction2. Robust Statistics3. Outlier process4. From Robust estimation to Outlier process5. GNC6. Spatial Discontinuties Black M J , Rangarajan A原创 2020-06-16 10:17:26 · 376 阅读 · 0 评论 -
CVX based SLAM algorithms paper read
CVX based ICP paper read1 Banch and Bound1.1 Practical Global Optimization for Multiview Geometry1.2 Branch-and-Bound Methods for Euclidean Registration Problems2. Lagrangian Duality2.1 Convex Global 3D Registration with Lagrangian Duality2.2 Solving Quadr原创 2020-06-08 15:58:13 · 703 阅读 · 5 评论 -
PCG(preconditioned conjugate gradient) for RCS(reduced camera system) in SLAM
Preconditioned Conjugate Gradient for Reduced Camera System in SLAM1. Introduction1.1 Linear algebra softwares1.2 Preconditioned Conjugate Gradient1.3 Prepare real SLAM data 1. Introduction Try to reproduce the article Pushing the Envelope of Modern Method原创 2020-05-26 15:03:43 · 550 阅读 · 0 评论 -
Conjugate Gradient Methods
Conjugate Gradient MethodsIntroductionAlgorithmsMatlab Implementation Introduction CG方法一开始发明在上个世纪(1952年,Hestenes and Stiefel),作为直接求解的方法,一开始的动力是因为那时代的电脑完全没有我们现在的电脑强大。在更早的时候,甚至没有电脑存在,那种情况下使用基础的牛顿法求解一个几百...原创 2020-05-06 16:22:36 · 520 阅读 · 3 评论 -
Quasi-Newton拟牛顿法(共轭方向法)
Quasi-Newton拟牛顿法(共轭方向法)1. Introduction2. 牛顿法2.1 不能保证收敛2.2 Hessian计算复杂3. 共轭方向法3.1 共轭方向3.2 共轭方向上可以收敛到极小3.3 共轭梯度法得到的是Q上的共轭方向3.4 算法效果4. 拟牛顿法4.1 拟牛顿法构造的是Q的共轭方向4.2 确定Hk - 秩1修正公式4.2 确定Hk - DFP4.3 确定Hk - BFGS...原创 2019-10-09 11:47:39 · 3773 阅读 · 0 评论