Hands-on Tutorial for Global Optimization in Matlab.zip

# GlobalOptimizationTutorial ## Hands-on Tutorial for Global Optimization in Matlab This git repo is for the ICCV 2019 Tutorial ["Global Optimization for Geometric Understanding with Provable Guarantees"](http://globaloptimization-iccv2019.mit.edu). Authors: [Heng Yang](http://hankyang.mit.edu), Siyi Hu, [Luca Carlone](https://lucacarlone.mit.edu) Acknowledgement: The tutorial uses the [SE-Sync](https://github.com/david-m-rosen/SE-Sync) implementation by David Rosen. ## Prerequisites * CVX: Please [download CVX](http://cvxr.com/cvx/download/) according to your OS and put the "cvx" folder at the same folder level as this "GlobalOptimizationTutorial" folder (e.g. "path/Matlab/cvx" and "path/Matlab/GlobalOptimizationTutorial"), and then go inside the "cvx" folder from Matlab console and run `cvx_setup`. ## Get Started * As simple as just openning, reading and running the `Tutorial_presentation.mlx` (`Tutorial_complete.mlx` contains the solution) * Alternatively, you can just read the `Tutorial_complete.pdf` ## References 1. Rosen, D. M., Carlone, L., Bandeira, A. S., & Leonard, J. J. (2018). SE-Sync: a certifiably correct algorithm for synchronization over the Special Euclidean group. *Intl. J. of Robotics Research (IJRR)*. [(pdf)](https://arxiv.org/pdf/1612.07386.pdf) 2. Eriksson, A., Olsson, C., Kahl, F., & Chin, T.-J. (2018). Rotation averaging and strong duality. In *IEEE Conf. on Computer Vision and Pattern Recognition (CVPR)*. [(pdf)](https://arxiv.org/pdf/1705.01362.pdf)