With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FMT) algorithm, the extended Fourier Mellin Transformation (eFMT) is an image registration approach that can be applied to downward-looking cameras, for example on aerial and underwater vehicles. eFMT extends FMT to multi-depth scenes and thus more application scenarios. It is a visual odometry method which estimates the pose transformation between three overlapping images. On this basis, we develop an optimized eFMT algorithm that improves certain aspects of the method and combines it with back-end optimization for the small loop of three consecutive frames. For this we investigate the extraction of uncertainty information from the eFMT registration, the related objective function and the graph-based optimization. Finally, we design a series of experiments to investigate the properties of this approach and compare it with other VO and SLAM (Simultaneous Localization and Mapping) algorithms. The results show the superior accuracy and speed of our o-eFMT approach, which is published as open source.

In this paper, we develop a local search algorithm to solve the Maximum Weight Clique (MWC) problem. Firstly we design a novel scoring function to measure the benefits of a local move. Then we develop a Cycle Estimation based ReStart (CERS) strategy to resolve the cycling issue in the local search process. Experimental results show that our solver achieves state-of-the-art performances on the large sparse graphs as well as large dense graphs. Also we present a theorem which shows the necessity of the restart strategies in current state-of-the-art local search algorithms.

The Maximum Vertex Weight Clique (MVWC) problem is NP-hard and also important in real-world applications. In this paper we propose to use the restart and the random walk strategies to improve local search for MVWC. If a solution is revisited in some particular situation, the search will restart. In addition, when the local search has no other options except dropping vertices, it will use random walk. Experimental results show that our solver outperforms state-of-the-art solvers in DIMACS and finds a new best-known solution. Also it is the unique solver which is comparable with state-of-the-art methods on both BHOSLIB and large crafted graphs. Furthermore we evaluated our solver in clustering aggregation. Experimental results on a number of real data sets demonstrate that our solver outperforms the state-of-the-art for solving the derived MVWC problem and helps improve the final clustering results.

The problem of finding a minimum vertex cover (MinVC) in a graph is a prominent NP-hard problem of great importance in both theory and application. During recent decades, there has been much interest in finding optimal or near-optimal solutions to this problem. Many existing heuristic algorithms for MinVC are based on local search strategies. Recently, an algorithm called FastVC takes a first step towards solving the MinVC problem for large real-world graphs. However, FastVC may be trapped by local minima during the local search stage due to the lack of suitable diversification mechanisms. In this work, we design a new random walk strategy to help FastVC escape from local minima. Experiments conducted on a broad range of large real-world graphs show that our algorithm outperforms state-of-the-art algorithms on most classes of the benchmark and finds smaller vertex covers on a considerable portion of the graphs.