Detection and Estimation of Structural Consistency (DESC)

Introduction

DESC is an elegant quadratic programming approach to the problem of group synchronization.

This repo contains matlab files for implementing the method of the following paper

[1] Robust Group Synchronization via Quadratic Programming, Yunpeng Shi, Cole Wyeth, and Gilad Lerman, ICML 2022

If you would like to use our code for your paper, please cite [1].

Usage

Download matlab files. Add paths to the directories Utils, Models, and Algorithms (e.g. addpath Utils). Run Demo/compare_algorithms.m

Dependencies

The following files in folder Utils include dependencies for running Lie-Algebraic Averaging method that were written by AVISHEK CHATTERJEE (revised and included in this repo). See also Robust Rotation Averaging and Efficient and Robust Large-Scale Rotation Averaging for details.

AverageSO3Graph.m
BoxMedianSO3Graph.m
Build_Amatrix.m
ConstantStepSize.m
fmin_adam.m
GCW.m
HybridGradient.m
IRAAB.m
IterativeSO3Average.m
L12.m
MST.m
PiecewiseStepSize.m
q2R.m
R2q.m
R2Q.m
RobustMeanSO3Graph.m
Rotation_Alignment.m
Weighted_LAA.m

Creators: Yunpeng Shi yunpengs@princeton.edu Cole Wyeth wyeth008@umn.edu