167 research outputs found
A matrix-algebraic algorithm for the Riemannian logarithm on the Stiefel manifold under the canonical metric
We derive a numerical algorithm for evaluating the Riemannian logarithm on
the Stiefel manifold with respect to the canonical metric. In contrast to the
existing optimization-based approach, we work from a purely matrix-algebraic
perspective. Moreover, we prove that the algorithm converges locally and
exhibits a linear rate of convergence.Comment: 30 pages, 5 figures, Matlab cod
Manifold interpolation and model reduction
One approach to parametric and adaptive model reduction is via the
interpolation of orthogonal bases, subspaces or positive definite system
matrices. In all these cases, the sampled inputs stem from matrix sets that
feature a geometric structure and thus form so-called matrix manifolds. This
work will be featured as a chapter in the upcoming Handbook on Model Order
Reduction (P. Benner, S. Grivet-Talocia, A. Quarteroni, G. Rozza, W.H.A.
Schilders, L.M. Silveira, eds, to appear on DE GRUYTER) and reviews the
numerical treatment of the most important matrix manifolds that arise in the
context of model reduction. Moreover, the principal approaches to data
interpolation and Taylor-like extrapolation on matrix manifolds are outlined
and complemented by algorithms in pseudo-code.Comment: 37 pages, 4 figures, featured chapter of upcoming "Handbook on Model
Order Reduction
Density of Spherically-Embedded Stiefel and Grassmann Codes
The density of a code is the fraction of the coding space covered by packing
balls centered around the codewords. This paper investigates the density of
codes in the complex Stiefel and Grassmann manifolds equipped with the chordal
distance. The choice of distance enables the treatment of the manifolds as
subspaces of Euclidean hyperspheres. In this geometry, the densest packings are
not necessarily equivalent to maximum-minimum-distance codes. Computing a
code's density follows from computing: i) the normalized volume of a metric
ball and ii) the kissing radius, the radius of the largest balls one can pack
around the codewords without overlapping. First, the normalized volume of a
metric ball is evaluated by asymptotic approximations. The volume of a small
ball can be well-approximated by the volume of a locally-equivalent tangential
ball. In order to properly normalize this approximation, the precise volumes of
the manifolds induced by their spherical embedding are computed. For larger
balls, a hyperspherical cap approximation is used, which is justified by a
volume comparison theorem showing that the normalized volume of a ball in the
Stiefel or Grassmann manifold is asymptotically equal to the normalized volume
of a ball in its embedding sphere as the dimension grows to infinity. Then,
bounds on the kissing radius are derived alongside corresponding bounds on the
density. Unlike spherical codes or codes in flat spaces, the kissing radius of
Grassmann or Stiefel codes cannot be exactly determined from its minimum
distance. It is nonetheless possible to derive bounds on density as functions
of the minimum distance. Stiefel and Grassmann codes have larger density than
their image spherical codes when dimensions tend to infinity. Finally, the
bounds on density lead to refinements of the standard Hamming bounds for
Stiefel and Grassmann codes.Comment: Two-column version (24 pages, 6 figures, 4 tables). To appear in IEEE
Transactions on Information Theor
The space of essential matrices as a Riemannian quotient manifold
The essential matrix, which encodes the epipolar constraint between points in two projective views,
is a cornerstone of modern computer vision. Previous works have proposed different characterizations
of the space of essential matrices as a Riemannian manifold. However, they either do not consider the
symmetric role played by the two views, or do not fully take into account the geometric peculiarities
of the epipolar constraint. We address these limitations with a characterization as a quotient manifold
which can be easily interpreted in terms of camera poses. While our main focus in on theoretical
aspects, we include applications to optimization problems in computer vision.This work was supported by grants NSF-IIP-0742304, NSF-OIA-1028009, ARL MAST-CTA W911NF-08-2-0004, and ARL RCTA W911NF-10-2-0016, NSF-DGE-0966142, and NSF-IIS-1317788
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