The paper presents complete characterizations of Lipschitzian full stability of locally optimal solutions to problems of second-order cone programming (SOCP) expressed entirely in terms of their initial data. These characterizations are obtained via appropriate versions of the quadratic growth and strong second-order sufficient conditions under the corresponding constraint qualifications. We al...

We present efficiently computable homomorphisms of the groups G2 and GT for pairings G1 × G2 → GT . This allows exponentiation in G2 and GT to be accelerated using the Gallant-Lambert-Vanstone method.

We tackle the problem of perspective 3D-reconstruction of Lambertian surfaces through photometric stereo, in the presence of outliers to Lambert’s law, depth discontinuities, and unknown spatiallyvarying lightings. To this purpose, we introduce a robust L-TV variational formulation of the recovery problem where the shape itself is the main unknown, which naturally enforces integrability and per...

We tackle the problem of perspective 3D-reconstruction of Lambertian surfaces through photometric stereo, in the presence of outliers to Lambert’s law, depth discontinuities, and unknown spatiallyvarying lightings. To this purpose, we introduce a robust L-TV variational formulation of the recovery problem where the shape itself is the main unknown, which naturally enforces integrability and per...

We aim to create systems that identify and locate objects by comparing known, 3D shapes to intensity images that they have produced. To do this we focus on verification methods that determine whether a known model in a specific pose is consistent with an image. We build on prior work that has done this successfully for Lambertian objects, to handle a much broader class of shiny objects that pro...

Robust robotic perception and manipulation of household objects requires the ability to detect, localize and manipulate a wide variety of objects, which may be mirror reflective like polished metal, glossy like smooth plastic, or transparent like glass; for example, picking a metal fork out of a sink full of running water or screwing a metal nut onto a bolt. Existing perceptual approaches based...