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Generalized approximate message passing (GAMP) is a promising technique for unknown signal reconstruction of generalized linear models (GLM). However, it requires that the transformation matrix has independent and identically distributed (IID) entries. In this context, generalized vector AMP (GVAMP) is proposed for general unitarily-invariant transformation matrices but it has a high-complexity matrix inverse. To this end, we propose a universal generalized memory AMP (GMAMP) framework including the existing orthogonal AMP/VAMP, GVAMP, and memory AMP (MAMP) as special instances. Due to the characteristics that local processors are all memory, GMAMP requires stricter orthogonality to guarantee the asymptotic IID Gaussianity and state evolution. To satisfy such orthogonality, local orthogonal memory estimators are established. The GMAMP framework provides a principle toward building new advanced AMP-type algorithms. As an example, we construct a Bayes-optimal GMAMP (BO-GMAMP), which uses a low-complexity memory linear estimator to suppress the linear interference, and thus its complexity is comparable to GAMP. Furthermore, we prove that for unitarily-invariant transformation matrices, BO-GMAMP achieves the replica minimum (i.e., Bayes-optimal) MSE if it has a unique fixed point.

We study a matrix recovery problem with unknown correspondence: given the observation matrix $M_o=[A,\tilde P B]$, where $\tilde P$ is an unknown permutation matrix, we aim to recover the underlying matrix $M=[A,B]$. Such problem commonly arises in many applications where heterogeneous data are utilized and the correspondence among them are unknown, e.g., due to privacy concerns. We show that it is possible to recover $M$ via solving a nuclear norm minimization problem under a proper low-rank condition on $M$, with provable non-asymptotic error bound for the recovery of $M$. We propose an algorithm, $\text{M}^3\text{O}$ (Matrix recovery via Min-Max Optimization) which recasts this combinatorial problem as a continuous minimax optimization problem and solves it by proximal gradient with a Max-Oracle. $\text{M}^3\text{O}$ can also be applied to a more general scenario where we have missing entries in $M_o$ and multiple groups of data with distinct unknown correspondence. Experiments on simulated data, the MovieLens 100K dataset and Yale B database show that $\text{M}^3\text{O}$ achieves state-of-the-art performance over several baselines and can recover the ground-truth correspondence with high accuracy.

In this paper, we introduce a computational framework for recovering a high-resolution approximation of an unknown function from its low-resolution indirect measurements as well as high-resolution training observations by merging the frameworks of generalized sampling and functional principal component analysis. In particular, we increase the signal resolution via a data driven approach, which models the function of interest as a realization of a random field and leverages a training set of observations generated via the same underlying random process. We study the performance of the resulting estimation procedure and show that high-resolution recovery is indeed possible provided appropriate low-rank and angle conditions hold and provided the training set is sufficiently large relative to the desired resolution. Moreover, we show that the size of the training set can be reduced by leveraging sparse representations of the functional principal components. Furthermore, the effectiveness of the proposed reconstruction procedure is illustrated by various numerical examples.

Given a fixed finite metric space $(V,\mu)$, the {\em minimum $0$-extension problem}, denoted as ${\tt 0\mbox{-}Ext}[\mu]$, is equivalent to the following optimization problem: minimize function of the form $\min\limits_{x\in V^n} \sum_i f_i(x_i) + \sum_{ij}c_{ij}\mu(x_i,x_j)$ where $c_{ij},c_{vi}$ are given nonnegative costs and $f_i:V\rightarrow \mathbb R$ are functions given by $f_i(x_i)=\sum_{v\in V}c_{vi}\mu(x_i,v)$. The computational complexity of ${\tt 0\mbox{-}Ext}[\mu]$ has been recently established by Karzanov and by Hirai: if metric $\mu$ is {\em orientable modular} then ${\tt 0\mbox{-}Ext}[\mu]$ can be solved in polynomial time, otherwise ${\tt 0\mbox{-}Ext}[\mu]$ is NP-hard. To prove the tractability part, Hirai developed a theory of discrete convex functions on orientable modular graphs generalizing several known classes of functions in discrete convex analysis, such as $L^\natural$-convex functions. We consider a more general version of the problem in which unary functions $f_i(x_i)$ can additionally have terms of the form $c_{uv;i}\mu(x_i,\{u,v\})$ for $\{u,v\}\in F$, where set $F\subseteq\binom{V}{2}$ is fixed. We extend the complexity classification above by providing an explicit condition on $(\mu,F)$ for the problem to be tractable. In order to prove the tractability part, we generalize Hirai's theory and define a larger class of discrete convex functions. It covers, in particular, another well-known class of functions, namely submodular functions on an integer lattice. Finally, we improve the complexity of Hirai's algorithm for solving ${\tt 0\mbox{-}Ext}[\mu]$ on orientable modular graphs.

The problem of optimal estimation of the linear functionals which depend on the unknown values of a periodically correlated stochastic sequence ${\zeta}(j)$ from observations of the sequence ${\zeta}(j)+{\theta}(j)$ at points $j\in\{\dots,-n,\dots,-2,-1,0\}\setminus S$, $S=\bigcup _{l=1}^{s-1}\{-M_l\cdot T+1,\dots,-M_{l-1}\cdot T-N_{l}\cdot T\}$, is considered, where ${\theta}(j)$ is an uncorrelated with ${\zeta}(j)$ periodically correlated stochastic sequence. Formulas for calculation the mean square error and the spectral characteristic of the optimal estimate of the functional $A\zeta$ are proposed in the case where spectral densities of the sequences are exactly known. Formulas that determine the least favorable spectral densities and the minimax-robust spectral characteristics of the optimal estimates of functionals are proposed in the case of spectral uncertainty, where the spectral densities are not exactly known while some sets of admissible spectral densities are specified.

The key challenge in learning dense correspondences lies in the lack of ground-truth matches for real image pairs. While photometric consistency losses provide unsupervised alternatives, they struggle with large appearance changes, which are ubiquitous in geometric and semantic matching tasks. Moreover, methods relying on synthetic training pairs often suffer from poor generalisation to real data. We propose Warp Consistency, an unsupervised learning objective for dense correspondence regression. Our objective is effective even in settings with large appearance and view-point changes. Given a pair of real images, we first construct an image triplet by applying a randomly sampled warp to one of the original images. We derive and analyze all flow-consistency constraints arising between the triplet. From our observations and empirical results, we design a general unsupervised objective employing two of the derived constraints. We validate our warp consistency loss by training three recent dense correspondence networks for the geometric and semantic matching tasks. Our approach sets a new state-of-the-art on several challenging benchmarks, including MegaDepth, RobotCar and TSS. Code and models will be released at //github.com/PruneTruong/DenseMatching.

We present MultiBodySync, a novel, end-to-end trainable multi-body motion segmentation and rigid registration framework for multiple input 3D point clouds. The two non-trivial challenges posed by this multi-scan multibody setting that we investigate are: (i) guaranteeing correspondence and segmentation consistency across multiple input point clouds capturing different spatial arrangements of bodies or body parts; and (ii) obtaining robust motion-based rigid body segmentation applicable to novel object categories. We propose an approach to address these issues that incorporates spectral synchronization into an iterative deep declarative network, so as to simultaneously recover consistent correspondences as well as motion segmentation. At the same time, by explicitly disentangling the correspondence and motion segmentation estimation modules, we achieve strong generalizability across different object categories. Our extensive evaluations demonstrate that our method is effective on various datasets ranging from rigid parts in articulated objects to individually moving objects in a 3D scene, be it single-view or full point clouds.

The main contribution of this paper is a new submap joining based approach for solving large-scale Simultaneous Localization and Mapping (SLAM) problems. Each local submap is independently built using the local information through solving a small-scale SLAM; the joining of submaps mainly involves solving linear least squares and performing nonlinear coordinate transformations. Through approximating the local submap information as the state estimate and its corresponding information matrix, judiciously selecting the submap coordinate frames, and approximating the joining of a large number of submaps by joining only two maps at a time, either sequentially or in a more efficient Divide and Conquer manner, the nonlinear optimization process involved in most of the existing submap joining approaches is avoided. Thus the proposed submap joining algorithm does not require initial guess or iterations since linear least squares problems have closed-form solutions. The proposed Linear SLAM technique is applicable to feature-based SLAM, pose graph SLAM and D-SLAM, in both two and three dimensions, and does not require any assumption on the character of the covariance matrices. Simulations and experiments are performed to evaluate the proposed Linear SLAM algorithm. Results using publicly available datasets in 2D and 3D show that Linear SLAM produces results that are very close to the best solutions that can be obtained using full nonlinear optimization algorithm started from an accurate initial guess. The C/C++ and MATLAB source codes of Linear SLAM are available on OpenSLAM.

Scene coordinate regression has become an essential part of current camera re-localization methods. Different versions, such as regression forests and deep learning methods, have been successfully applied to estimate the corresponding camera pose given a single input image. In this work, we propose to regress the scene coordinates pixel-wise for a given RGB image by using deep learning. Compared to the recent methods, which usually employ RANSAC to obtain a robust pose estimate from the established point correspondences, we propose to regress confidences of these correspondences, which allows us to immediately discard erroneous predictions and improve the initial pose estimates. Finally, the resulting confidences can be used to score initial pose hypothesis and aid in pose refinement, offering a generalized solution to solve this task.

We introduce an effective model to overcome the problem of mode collapse when training Generative Adversarial Networks (GAN). Firstly, we propose a new generator objective that finds it better to tackle mode collapse. And, we apply an independent Autoencoders (AE) to constrain the generator and consider its reconstructed samples as "real" samples to slow down the convergence of discriminator that enables to reduce the gradient vanishing problem and stabilize the model. Secondly, from mappings between latent and data spaces provided by AE, we further regularize AE by the relative distance between the latent and data samples to explicitly prevent the generator falling into mode collapse setting. This idea comes when we find a new way to visualize the mode collapse on MNIST dataset. To the best of our knowledge, our method is the first to propose and apply successfully the relative distance of latent and data samples for stabilizing GAN. Thirdly, our proposed model, namely Generative Adversarial Autoencoder Networks (GAAN), is stable and has suffered from neither gradient vanishing nor mode collapse issues, as empirically demonstrated on synthetic, MNIST, MNIST-1K, CelebA and CIFAR-10 datasets. Experimental results show that our method can approximate well multi-modal distribution and achieve better results than state-of-the-art methods on these benchmark datasets. Our model implementation is published here: //github.com/tntrung/gaan