A game-theoretic approach to the enforcement of global consistency in multi-view feature matching

In this paper we introduce a robust matching technique that allows to operate a very accurate selection of corresponding feature points from multiple views. Robustness is achieved by enforcing global geometric consistency at an early stage of the matching process, without the need of ex-post verification through reprojection. Two forms of global consistency are proposed, but in both cases they are reduced to pairwise compatibilities making use of the size and orientation information provided by common feature descriptors. Then a game-theoretic approach is used to select a maximally consistent set of candidate matches, where highly compatible matches are enforced while incompatible correspondences are driven to extinction. The effectiveness of the approach in estimating camera parameters for bundle adjustment is assessed and compared with state-of-the-art techniques. © 2010 Springer-Verlag Berlin Heidelberg

Imposing Semi-Local Geometric Constraints for Accurate Correspondences Selection in Structure from Motion: A Game-Theoretic Perspective

Most Structure from Motion pipelines are based on the iterative refinement of an initial batch of feature correspondences. Typically this is performed by selecting a set of match candidates based on their photometric similarity; an initial estimate of camera intrinsic and extrinsic parameters is then computed by minimizing the reprojection error. Finally, outliers in the initial correspondences are filtered by enforcing some global geometric property such as the epipolar constraint. In the literature many different approaches have been proposed to deal with each of these three steps, but almost invariably they separate the first inlier selection step, which is based only on local image properties, from the enforcement of global geometric consistency. Unfortunately, these two steps are not independent since outliers can lead to inaccurate parameter estimation or even prevent convergence, leading to the well known sensitivity of all filtering approaches to the number of outliers, especially in the presence of structured noise, which can arise, for example, when the images present several repeated patterns. In this paper we introduce a novel stereo correspondence selection scheme that casts the problem into a Game-Theoretic framework in order to guide the inlier selection towards a consistent subset of correspondences. This is done by enforcing geometric constraints that do not depend on full knowledge of the motion parameters but rather on some semi-local property that can be estimated from the local appearance of the image features. The practical effectiveness of the proposed approach is confirmed by an extensive set of experiments and comparisons with state-of-the-art techniques

Stable Matchings for the Room-mates Problem

We show that, given two matchings for a room-mates problem of which say the second is stable, and given a non-empty subset of agents S if (a) no agent in S prefers the first matching to the second, and (b) no agent in S and his room-mate in S under the second matching prefer each other to their respective room-mates in the first matching, then no room-mate of an agent in S prefers the second matching to the first. This result is a strengthening of a result originally due to Knuth (1976). In a paper by Sasaki and Toda (1992) it is shown that if a marriage problem has more than one stable matchings, then given any one stable matching, it is possible to add agents and thereby obtain exactly one stable matching, whose restriction over the original set of agents, coincides with the given stable matching. We are able to extend this result here to the domain of room-mates problems. We also extend a result due to Roth and Sotomayor (1990) originally established for two-sided matching problems in the following manner: If in a room-mates problem, the number of agents increases, then given any stable matching for the old problem and any stable matching for the new one, there is at least one agent who is acceptable to this new agent who prefers the new matching to the old one and his room-mate under the new matching prefers the old matching to the new one. Sasaki and Toda (1992) shows that the solution correspondence which selects the set of all stable matchings, satisfies Pareto Optimality, Anonymity, Consistency and Converse Consistency on the domain of marriage problems. We show here that if a solution correspondence satisfying Consistency and Converse Consistency agrees with the solution correspondence comprising stable matchings for all room-mates problems involving four or fewer agents, then it must agree with the solution correspondence comprising stable matchings for all room-mates problems.Stable matchings, Room-mate problem

Shared value economics: an axiomatic approach

The concept of shared value was introduced by Porter and Kramer as a new conception of capitalism. Shared value describes the strategy of organizations that simultaneously enhance their competitiveness and the social conditions of related stakeholders such as employees, suppliers and the natural environment. The idea has generated strong interest, but also some controversy due to a lack of a precise definition, measurement techniques and difficulties to connect theory to practice. We overcome these drawbacks by proposing an economic framework based on three key aspects: coalition formation, sustainability and consistency, meaning that conclusions can be tested by means of logical deductions and empirical applications. The presence of multiple agents to create shared value and the optimization of both social and economic criteria in decision making represent the core of our quantitative definition of shared value. We also show how economic models can be characterized as shared value models by means of logical deductions. Summarizing, our proposal builds on the foundations of shared value to improve its understanding and to facilitate the suggestion of economic hypotheses, hence accommodating the concept of shared value within modern economic theory.Comment: 22 pages, 4 figure

A Scale Independent Selection Process for 3D Object Recognition in Cluttered Scenes

During the last years a wide range of algorithms and devices have been made available to easily acquire range images. The increasing abundance of depth data boosts the need for reliable and unsupervised analysis techniques, spanning from part registration to automated segmentation. In this context, we focus on the recognition of known objects in cluttered and incomplete 3D scans. Locating and fitting a model to a scene are very important tasks in many scenarios such as industrial inspection, scene understanding, medical imaging and even gaming. For this reason, these problems have been addressed extensively in the literature. Several of the proposed methods adopt local descriptor-based approaches, while a number of hurdles still hinder the use of global techniques. In this paper we offer a different perspective on the topic: We adopt an evolutionary selection algorithm that seeks global agreement among surface points, while operating at a local level. The approach effectively extends the scope of local descriptors by actively selecting correspondences that satisfy global consistency constraints, allowing us to attack a more challenging scenario where model and scene have different, unknown scales. This leads to a novel and very effective pipeline for 3D object recognition, which is validated with an extensive set of experiment

To Give In or Not To Give In To Bribery? Setting the Optimal Fines for Violations of Rules when the Enforcers are Likely to Ask for Bribes

In this paper, we develop a model of law enforcement with the possibility of corruption between enforcers and potential offenders. We study how the violation rate changes with the level of the fine imposed on violations. We find, in contrast to the conventional wisdom, that the fine level that minimizes violations can be intermediate rather than large. Finally, we study conditions under which different fine levels would be optimal.Corruption, Law Enforcement

Reallocating Water: An Application of Sequent

We present an axiomatic approach to the reallocation of water rights among economic sectors. Reallocation may be appropriate when the current schedule of water allocation is considered unfair. Our proposed approach is based on the combination of initial water rights, sectors' claims to water, and an exogenous ordering of these sectors. We apply sharing rules, based on bankruptcy rules, to reallocate water, which complements other approaches to the reallocation of water rights, including those based on water markets. Our approach is illustrated using an application to water reallocation in Cyprus, where reallocation of water rights has been recognised as an essential step towards good water governance and one of the main challenges for current water policies.Water Reallocation, Sequential Sharing Rule, Water Scarcity, Axiomatic Approach, Cyprus

Correct-by-Construction Development of Dynamic Topology Control Algorithms

Wireless devices are influencing our everyday lives today and will even more so in the future. A wireless sensor network (WSN) consists of dozens to hundreds of small, cheap, battery-powered, resource-constrained sensor devices (motes) that cooperate to serve a common purpose. These networks are applied in safety- and security-critical areas (e.g., e-health, intrusion detection). The topology of such a system is an attributed graph consisting of nodes representing the devices and edges representing the communication links between devices. Topology control (TC) improves the energy consumption behavior of a WSN by blocking costly links. This allows a mote to reduce its transmission power. A TC algorithm must fulfill important consistency properties (e.g., that the resulting topology is connected). The traditional development process for TC algorithms only considers consistency properties during the initial specification phase. The actual implementation is carried out manually, which is error prone and time consuming. Thus, it is difficult to verify that the implementation fulfills the required consistency properties. The problem becomes even more severe if the development process is iterative. Additionally, many TC algorithms are batch algorithms, which process the entire topology, irrespective of the extent of the topology modifications since the last execution. Therefore, dynamic TC is desirable, which reacts to change events of the topology. In this thesis, we propose a model-driven correct-by-construction methodology for developing dynamic TC algorithms. We model local consistency properties using graph constraints and global consistency properties using second-order logic. Graph transformation rules capture the different types of topology modifications. To specify the control flow of a TC algorithm, we employ the programmed graph transformation language story-driven modeling. We presume that local consistency properties jointly imply the global consistency properties. We ensure the fulfillment of the local consistency properties by synthesizing weakest preconditions for each rule. The synthesized preconditions prohibit the application of a rule if and only if the application would lead to a violation of a consistency property. Still, this restriction is infeasible for topology modifications that need to be executed in any case. Therefore, as a major contribution of this thesis, we propose the anticipation loop synthesis algorithm, which transforms the synthesized preconditions into routines that anticipate all violations of these preconditions. This algorithm also enables the correct-by-construction runtime reconfiguration of adaptive WSNs. We provide tooling for both common evaluation steps. Cobolt allows to evaluate the specified TC algorithms rapidly using the network simulator Simonstrator. cMoflon generates embedded C code for hardware testbeds that build on the sensor operating system Contiki