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Consensus Optimization for Distributed Registration

Abstract: 

We consider the problem of jointly registering multiple point sets using rigid transforms. We propose a distributed algorithm based on consensus optimization for the least-squares formulation of this problem. In each iteration, the computation is distributed among the point sets and the results are averaged. For each point set, the dominant cost per iteration is the SVD of a square matrix of size d, where d is the ambient dimension. Existing methods for joint registration are either centralized or perform the optimization sequentially. The proposed algorithm is naturally more scalable than these methods. As an application, we integrate the proposed algorithm within a divide-and-conquer approach for sensor network localization. In particular, we are able to localize very large networks, which are beyond the scope of most existing localization methods.

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Paper Details

Authors:
Kunal N. Chaudhury
Submitted On:
21 November 2018 - 10:16pm
Short Link:
Type:
Presentation Slides
Event:
Presenter's Name:
Rajat Sanyal
Paper Code:
1025
Document Year:
2018
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We propose a distributed algorithm based on consensus optimization for the registering multiple point-clouds.

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[1] Kunal N. Chaudhury, "Consensus Optimization for Distributed Registration", IEEE SigPort, 2018. [Online]. Available: http://sigport.org/3709. Accessed: Dec. 16, 2018.
@article{3709-18,
url = {http://sigport.org/3709},
author = {Kunal N. Chaudhury },
publisher = {IEEE SigPort},
title = {Consensus Optimization for Distributed Registration},
year = {2018} }
TY - EJOUR
T1 - Consensus Optimization for Distributed Registration
AU - Kunal N. Chaudhury
PY - 2018
PB - IEEE SigPort
UR - http://sigport.org/3709
ER -
Kunal N. Chaudhury. (2018). Consensus Optimization for Distributed Registration. IEEE SigPort. http://sigport.org/3709
Kunal N. Chaudhury, 2018. Consensus Optimization for Distributed Registration. Available at: http://sigport.org/3709.
Kunal N. Chaudhury. (2018). "Consensus Optimization for Distributed Registration." Web.
1. Kunal N. Chaudhury. Consensus Optimization for Distributed Registration [Internet]. IEEE SigPort; 2018. Available from : http://sigport.org/3709