a.a. 2021/22

Responsabile didattico: Andrea Fusiello

Docenti: Andrea Fusiello, Riccardo Bernardini

Durata: 28 ore

Programma: Metodi di ottimizzazione basati sui gruppi di Lie: Introduction and motivation. Examples of application of the parametrization techniques and their issues; Basic notions about differentiable manifolds (basic notions of topology, coordinates, tangent spaces); The "think globally, act locally" strategy for optimization problems on generic manifolds; Specialization of the "think globally, act locally" strategy to the case of Lie group and homogeneous spaces. Some examples of specialized optimization procedures. Sincronizzazione e localizzazione di reti di sensori: Preminary material: Graphs basics, Cycle basis, Kronecker product; Introduction to Synchronization: consistent labelling, non-nullcycles; Synchronization in several groups; Bearing-based localization. Different formulations: Incidence-based, Cycle-based, Laplacian. Parallel rigidity; Time synchronization; Point sets registration; Mosaicing; Structure-from-motion; Multi-view Matching.

Corsi a.a. 2021/2022