New Results on Triangulation, Polynomial Equation Solving and Their Application in Global Localization

This thesis addresses the problem of global localization from images. The overall goal is to find the location and the direction of a camera given an image taken with the camera relative a 3D world model. In order to solve the problem several subproblems have to be handled. The two main steps for constructing a system for global localization consist of model building and localization. For the model construction phase we give a new method for triangulation that guarantees that the globally optimal position is attained under the assumption of Gaussian noise in the image measurements. A common framework for the triangulation of points, lines and conics is presented. The second contribution of the thesis is in the field of solving systems of polynomial equations. Many problems in geometrical computer vision lead to computing the real roots of a system of polynomial equations, and several such geometry problems appear in the localization problem. The method presented in the thesis gives a significant improvement in the numerics when Gröbner basis methods are applied. Such methods are often plagued by numerical problems, but by using the fact that the complete Gröbner basis is not needed, the numerics can be improved. In the final part of the thesis we present several new minimal, geometric problems that have not been solved previously. These minimal cases make use of both two and three dimensional correspondences at the same time. The solutions to these minimal problems form the basis of a localization system which aims at improving robustness compared to the state of the art

Algorithmic Boundedness-From-Below Conditions for Generic Scalar Potentials

Checking that a scalar potential is bounded from below (BFB) is an ubiquitous and notoriously difficult task in many models with extended scalar sectors. Exact analytic BFB conditions are known only in simple cases. In this work, we present a novel approach to algorithmically establish the BFB conditions for any polynomial scalar potential. The method relies on elements of multivariate algebra, in particular, on resultants and on the spectral theory of tensors, which is being developed by the mathematical community. We give first a pedagogical introduction to this approach, illustrate it with elementary examples, and then present the working Mathematica implementation publicly available at GitHub. Due to the rapidly increasing complexity of the problem, we have not yet produced ready-to-use analytical BFB conditions for new multi-scalar cases. But we are confident that the present implementation can be dramatically improved and may eventually lead to such results.Comment: 27 pages, 2 figures; v2: added reference

Streaming algorithms for evaluating noisy judges on unlabeled data -- binary classification

The evaluation of noisy binary classifiers on unlabeled data is treated as a streaming task: given a data sketch of the decisions by an ensemble, estimate the true prevalence of the labels as well as each classifier's accuracy on them. Two fully algebraic evaluators are constructed to do this. Both are based on the assumption that the classifiers make independent errors. The first is based on majority voting. The second, the main contribution of the paper, is guaranteed to be correct. But how do we know the classifiers are independent on any given test? This principal/agent monitoring paradox is ameliorated by exploiting the failures of the independent evaluator to return sensible estimates. A search for nearly error independent trios is empirically carried out on the \texttt{adult}, \texttt{mushroom}, and \texttt{two-norm} datasets by using the algebraic failure modes to reject evaluation ensembles as too correlated. The searches are refined by constructing a surface in evaluation space that contains the true value point. The algebra of arbitrarily correlated classifiers permits the selection of a polynomial subset free of any correlation variables. Candidate evaluation ensembles are rejected if their data sketches produce independent estimates too far from the constructed surface. The results produced by the surviving ensembles can sometimes be as good as 1\%. But handling even small amounts of correlation remains a challenge. A Taylor expansion of the estimates produced when independence is assumed but the classifiers are, in fact, slightly correlated helps clarify how the independent evaluator has algebraic `blind spots'.Comment: 23 pages, 5 figure

Nonlinear Model-Based Process Operation under Uncertainty Using Exact Parametric Programming

In the present work, two new, (multi-)parametric programming (mp-P)-inspired algorithms for the solution of mixed-integer nonlinear programming (MINLP) problems are developed, with their main focus being on process synthesis problems. The algorithms are developed for the special case in which the nonlinearities arise because of logarithmic terms, with the first one being developed for the deterministic case, and the second for the parametric case (p-MINLP). The key idea is to formulate and solve the square system of the first-order Karush-Kuhn-Tucker (KKT) conditions in an analytical way, by treating the binary variables and/or uncertain parameters as symbolic parameters. To this effect, symbolic manipulation and solution techniques are employed. In order to demonstrate the applicability and validity of the proposed algorithms, two process synthesis case studies are examined. The corresponding solutions are then validated using state-of-the-art numerical MINLP solvers. For p-MINLP, the solution is given by an optimal solution as an explicit function of the uncertain parameters

Automated Theorem Proving in GeoGebra: Current Achievements

GeoGebra is an open-source educational mathematics software tool, with millions of users worldwide. It has a number of features (integration of computer algebra, dynamic geometry, spreadsheet, etc.), primarily focused on facilitating student experiments, and not on formal reasoning. Since including automated deduction tools in GeoGebra could bring a whole new range of teaching and learning scenarios, and since automated theorem proving and discovery in geometry has reached a rather mature stage, we embarked on a project of incorporating and testing a number of different automated provers for geometry in GeoGebra. In this paper, we present the current achievements and status of this project, and discuss various relevant challenges that this project raises in the educational, mathematical and software contexts. We will describe, first, the recent and forthcoming changes demanded by our project, regarding the implementation and the user interface of GeoGebra. Then we present our vision of the educational scenarios that could be supported by automated reasoning features, and how teachers and students could benefit from the present work. In fact, current performance of GeoGebra, extended with automated deduction tools, is already very promising—many complex theorems can be proved in less than 1 second. Thus, we believe that many new and exciting ways of using GeoGebra in the classroom are on their way

Algorithmic Reduction of Biological Networks With Multiple Time Scales

We present a symbolic algorithmic approach that allows to compute invariant manifolds and corresponding reduced systems for differential equations modeling biological networks which comprise chemical reaction networks for cellular biochemistry, and compartmental models for pharmacology, epidemiology and ecology. Multiple time scales of a given network are obtained by scaling, based on tropical geometry. Our reduction is mathematically justified within a singular perturbation setting using a recent result by Cardin and Teixeira. The existence of invariant manifolds is subject to hyperbolicity conditions, which we test algorithmically using Hurwitz criteria. We finally obtain a sequence of nested invariant manifolds and respective reduced systems on those manifolds. Our theoretical results are generally accompanied by rigorous algorithmic descriptions suitable for direct implementation based on existing off-the-shelf software systems, specifically symbolic computation libraries and Satisfiability Modulo Theories solvers. We present computational examples taken from the well-known BioModels database using our own prototypical implementations

Topologically certified approximation of umbilics and ridges on polynomial parametric surface

Given a smooth surface, a blue (red) ridge is a curve along which the maximum (minimum) principal curvature has an extremum along its curvature line. Ridges are curves of extremal curvature and encode important informations used in surface analysis or segmentation. But reporting the ridges of a surface requires manipulating third and fourth order derivatives whence numerical difficulties. Additionally, ridges have self-intersections and complex interactions with the umbilics of the surface whence topological difficulties. In this context, we make two contributions for the computation of ridges of polynomial parametric surfaces. First, by instantiating to the polynomial setting a global structure theorem of ridge curves proved in a companion paper, we develop the first certified algorithm to produce a topological approximation of the curve P encoding all the ridges of the surface. The algorithm exploits the singular structure of P umbilics and purple points, and reduces the problem to solving zero dimensional systems using Gröbner basis. Second, for cases where the zero-dimensional systems cannot be practically solved, we develop a certified plot algorithm at any fixed resolution. These contributions are respectively illustrated for Bezier surfaces of degree four and five