Recuperação multimodal e interativa de informação orientada por diversidade

Orientador: Ricardo da Silva TorresTese (doutorado) - Universidade Estadual de Campinas, Instituto de ComputaçãoResumo: Os métodos de Recuperação da Informação, especialmente considerando-se dados multimídia, evoluíram para a integração de múltiplas fontes de evidência na análise de relevância de itens em uma tarefa de busca. Neste contexto, para atenuar a distância semântica entre as propriedades de baixo nível extraídas do conteúdo dos objetos digitais e os conceitos semânticos de alto nível (objetos, categorias, etc.) e tornar estes sistemas adaptativos às diferentes necessidades dos usuários, modelos interativos que consideram o usuário mais próximo do processo de recuperação têm sido propostos, permitindo a sua interação com o sistema, principalmente por meio da realimentação de relevância implícita ou explícita. Analogamente, a promoção de diversidade surgiu como uma alternativa para lidar com consultas ambíguas ou incompletas. Adicionalmente, muitos trabalhos têm tratado a ideia de minimização do esforço requerido do usuário em fornecer julgamentos de relevância, à medida que mantém níveis aceitáveis de eficácia. Esta tese aborda, propõe e analisa experimentalmente métodos de recuperação da informação interativos e multimodais orientados por diversidade. Este trabalho aborda de forma abrangente a literatura acerca da recuperação interativa da informação e discute sobre os avanços recentes, os grandes desafios de pesquisa e oportunidades promissoras de trabalho. Nós propusemos e avaliamos dois métodos de aprimoramento do balanço entre relevância e diversidade, os quais integram múltiplas informações de imagens, tais como: propriedades visuais, metadados textuais, informação geográfica e descritores de credibilidade dos usuários. Por sua vez, como integração de técnicas de recuperação interativa e de promoção de diversidade, visando maximizar a cobertura de múltiplas interpretações/aspectos de busca e acelerar a transferência de informação entre o usuário e o sistema, nós propusemos e avaliamos um método multimodal de aprendizado para ranqueamento utilizando realimentação de relevância sobre resultados diversificados. Nossa análise experimental mostra que o uso conjunto de múltiplas fontes de informação teve impacto positivo nos algoritmos de balanceamento entre relevância e diversidade. Estes resultados sugerem que a integração de filtragem e re-ranqueamento multimodais é eficaz para o aumento da relevância dos resultados e também como mecanismo de potencialização dos métodos de diversificação. Além disso, com uma análise experimental minuciosa, nós investigamos várias questões de pesquisa relacionadas à possibilidade de aumento da diversidade dos resultados e a manutenção ou até mesmo melhoria da sua relevância em sessões interativas. Adicionalmente, nós analisamos como o esforço em diversificar afeta os resultados gerais de uma sessão de busca e como diferentes abordagens de diversificação se comportam para diferentes modalidades de dados. Analisando a eficácia geral e também em cada iteração de realimentação de relevância, nós mostramos que introduzir diversidade nos resultados pode prejudicar resultados iniciais, enquanto que aumenta significativamente a eficácia geral em uma sessão de busca, considerando-se não apenas a relevância e diversidade geral, mas também o quão cedo o usuário é exposto ao mesmo montante de itens relevantes e nível de diversidadeAbstract: Information retrieval methods, especially considering multimedia data, have evolved towards the integration of multiple sources of evidence in the analysis of the relevance of items considering a given user search task. In this context, for attenuating the semantic gap between low-level features extracted from the content of the digital objects and high-level semantic concepts (objects, categories, etc.) and making the systems adaptive to different user needs, interactive models have brought the user closer to the retrieval loop allowing user-system interaction mainly through implicit or explicit relevance feedback. Analogously, diversity promotion has emerged as an alternative for tackling ambiguous or underspecified queries. Additionally, several works have addressed the issue of minimizing the required user effort on providing relevance assessments while keeping an acceptable overall effectiveness. This thesis discusses, proposes, and experimentally analyzes multimodal and interactive diversity-oriented information retrieval methods. This work, comprehensively covers the interactive information retrieval literature and also discusses about recent advances, the great research challenges, and promising research opportunities. We have proposed and evaluated two relevance-diversity trade-off enhancement work-flows, which integrate multiple information from images, such as: visual features, textual metadata, geographic information, and user credibility descriptors. In turn, as an integration of interactive retrieval and diversity promotion techniques, for maximizing the coverage of multiple query interpretations/aspects and speeding up the information transfer between the user and the system, we have proposed and evaluated a multimodal learning-to-rank method trained with relevance feedback over diversified results. Our experimental analysis shows that the joint usage of multiple information sources positively impacted the relevance-diversity balancing algorithms. Our results also suggest that the integration of multimodal-relevance-based filtering and reranking was effective on improving result relevance and also boosted diversity promotion methods. Beyond it, with a thorough experimental analysis we have investigated several research questions related to the possibility of improving result diversity and keeping or even improving relevance in interactive search sessions. Moreover, we analyze how much the diversification effort affects overall search session results and how different diversification approaches behave for the different data modalities. By analyzing the overall and per feedback iteration effectiveness, we show that introducing diversity may harm initial results whereas it significantly enhances the overall session effectiveness not only considering the relevance and diversity, but also how early the user is exposed to the same amount of relevant items and diversityDoutoradoCiência da ComputaçãoDoutor em Ciência da ComputaçãoP-4388/2010140977/2012-0CAPESCNP

Multi-Modality Human Action Recognition

Human action recognition is very useful in many applications in various areas, e.g. video surveillance, HCI (Human computer interaction), video retrieval, gaming and security. Recently, human action recognition becomes an active research topic in computer vision and pattern recognition. A number of action recognition approaches have been proposed. However, most of the approaches are designed on the RGB images sequences, where the action data was collected by RGB/intensity camera. Thus the recognition performance is usually related to various occlusion, background, and lighting conditions of the image sequences. If more information can be provided along with the image sequences, more data sources other than the RGB video can be utilized, human actions could be better represented and recognized by the designed computer vision system.;In this dissertation, the multi-modality human action recognition is studied. On one hand, we introduce the study of multi-spectral action recognition, which involves the information from different spectrum beyond visible, e.g. infrared and near infrared. Action recognition in individual spectra is explored and new methods are proposed. Then the cross-spectral action recognition is also investigated and novel approaches are proposed in our work. On the other hand, since the depth imaging technology has made a significant progress recently, where depth information can be captured simultaneously with the RGB videos. The depth-based human action recognition is also investigated. I first propose a method combining different type of depth data to recognize human actions. Then a thorough evaluation is conducted on spatiotemporal interest point (STIP) based features for depth-based action recognition. Finally, I advocate the study of fusing different features for depth-based action analysis. Moreover, human depression recognition is studied by combining facial appearance model as well as facial dynamic model

Discriminative feature learning for multimodal classification

The purpose of this thesis is to tackle two related topics: multimodal classification and objective functions to improve the discriminative power of features. First, I worked on image and text classification tasks and performed many experiments to show the effectiveness of different approaches available in literature. Then, I introduced a novel methodology which can classify multimodal documents using singlemodal classifiers merging textual and visual information into images and a novel loss function to improve separability between samples of a dataset. Results show that exploiting multimodal data increases performances on classification tasks rather than using traditional single-modality methods. Moreover the introduced GIT loss function is able to enhance the discriminative power of features, lowering intra-class distance and raising inter-class distance between samples of a multiclass dataset

Discriminative feature learning for multimodal classification

The purpose of this thesis is to tackle two related topics: multimodal classification and objective functions to improve the discriminative power of features. First, I worked on image and text classification tasks and performed many experiments to show the effectiveness of different approaches available in literature. Then, I introduced a novel methodology which can classify multimodal documents using singlemodal classifiers merging textual and visual information into images and a novel loss function to improve separability between samples of a dataset. Results show that exploiting multimodal data increases performances on classification tasks rather than using traditional single-modality methods. Moreover the introduced GIT loss function is able to enhance the discriminative power of features, lowering intra-class distance and raising inter-class distance between samples of a multiclass dataset

Managing tail latency in large scale information retrieval systems

As both the availability of internet access and the prominence of smart devices continue to increase, data is being generated at a rate faster than ever before. This massive increase in data production comes with many challenges, including efficiency concerns for the storage and retrieval of such large-scale data. However, users have grown to expect the sub-second response times that are common in most modern search engines, creating a problem - how can such large amounts of data continue to be served efficiently enough to satisfy end users? This dissertation investigates several issues regarding tail latency in large-scale information retrieval systems. Tail latency corresponds to the high percentile latency that is observed from a system - in the case of search, this latency typically corresponds to how long it takes for a query to be processed. In particular, keeping tail latency as low as possible translates to a good experience for all users, as tail latency is directly related to the worst-case latency and hence, the worst possible user experience. The key idea in targeting tail latency is to move from questions such as "what is the median latency of our search engine?" to questions which more accurately capture user experience such as "how many queries take more than 200ms to return answers?" or "what is the worst case latency that a user may be subject to, and how often might it occur?" While various strategies exist for efficiently processing queries over large textual corpora, prior research has focused almost entirely on improvements to the average processing time or cost of search systems. As a first contribution, we examine some state-of-the-art retrieval algorithms for two popular index organizations, and discuss the trade-offs between them, paying special attention to the notion of tail latency. This research uncovers a number of observations that are subsequently leveraged for improved search efficiency and effectiveness. We then propose and solve a new problem, which involves processing a number of related queries together, known as multi-queries, to yield higher quality search results. We experiment with a number of algorithmic approaches to efficiently process these multi-queries, and report on the cost, efficiency, and effectiveness trade-offs present with each. Ultimately, we find that some solutions yield a low tail latency, and are hence suitable for use in real-time search environments. Finally, we examine how predictive models can be used to improve the tail latency and end-to-end cost of a commonly used multi-stage retrieval architecture without impacting result effectiveness. By combining ideas from numerous areas of information retrieval, we propose a prediction framework which can be used for training and evaluating several efficiency/effectiveness trade-off parameters, resulting in improved trade-offs between cost, result quality, and tail latency

Smart Sensor Monitoring in Machining of Difficult-to-cut Materials

The research activities presented in this thesis are focused on the development of smart sensor monitoring procedures applied to diverse machining processes with particular reference to the machining of difficult-to-cut materials. This work will describe the whole smart sensor monitoring procedure starting from the configuration of the multiple sensor monitoring system for each specific application and proceeding with the methodologies for sensor signal detection and analysis aimed at the extraction of signal features to feed to intelligent decision-making systems based on artificial neural networks. The final aim is to perform tool condition monitoring in advanced machining processes in terms of tool wear diagnosis and forecast, in the perspective of zero defect manufacturing and green technologies. The work has been addressed within the framework of the national MIUR PON research project CAPRI, acronym for “Carrello per atterraggio con attuazione intelligente” (Landing Gear with Intelligent Actuation), and the research project STEP FAR, acronym for “Sviluppo di materiali e Tecnologie Ecocompatibili, di Processi di Foratura, taglio e di Assemblaggio Robotizzato” (Development of eco-compatible materials and technologies for robotised drilling and assembly processes). Both projects are sponsored by DAC, the Campania Technological Aerospace District, and involve two aerospace industries, Magnaghi Aeronautica S.p.A. and Leonardo S.p.A., respectively. Due to the industrial framework in which the projects were developed and taking advantage of the support from the industrial partners, the project activities have been carried out with the aim to contribute to the scientific research in the field of machining process monitoring as well as to promote the industrial applicability of the results. The thesis was structured in order to illustrate all the methodologies, the experimental tests and the results obtained from the research activities. It begins with an introduction to “Sensor monitoring of machining processes” (Chapter 2) with particular attention to the main sensor monitoring applications and the types of sensors which are employed in machining. The key methods for advanced sensor signal processing, including the implementation of sensor fusion technology, are discussed in details as they represent the basic input for cognitive decision-making systems construction. The chapter finally presents a brief discussion on cloud-based manufacturing which will represent one of the future developments of this research work. Chapters 3 and 4 illustrate the case studies of machining process sensor monitoring investigated in the research work. Within the CAPRI project, the feasibility of the dry turning process of Ti6Al4V alloy (Chapter 3) was studied with particular attention to the optimization of the machining parameters avoiding the use of coolant fluids. Since very rapid tool wear is experienced during dry machining of Titanium alloys, the multiple sensor monitoring system was used in order to develop a methodology based on a smart system for on line tool wear detection in terms of maximum flank wear land. Within the STEP FAR project, the drilling process of carbon fibre reinforced (CFRP) composite materials was studied using diverse experimental set-ups. Regarding the tools, three different types of drill bit were employed, including traditional as well as innovative geometry ones. Concerning the investigated materials, two different types of stack configurations were employed, namely CFRP/CFRP stacks and hybrid Al/CFRP stacks. Consequently, the machining parameters for each experimental campaign were varied, and also the methods for signal analysis were changed to verify the performance of the different methodologies. Finally, for each case different neural network configurations were investigated for cognitive-based decision making. First of all, the applicability of the system was tested in order to perform tool wear diagnosis and forecast. Then, the discussion proceeds with a further aim of the research work, which is the reduction of the number of selected sensor signal features, in order to improve the performance of the cognitive decision-making system, simplify modelling and facilitate the implementation of these methodologies in a cloud manufacturing approach to tool condition monitoring. Sensor fusion methodologies were applied to the extracted and selected sensor signal features in the perspective of feature reduction with the purpose to implement these procedures for big data analytics within the Industry 4.0 framework. In conclusion, the positive impact of the proposed tool condition monitoring methodologies based on multiple sensor signal acquisition and processing is illustrated, with particular reference to the reliable assessment of tool state in order to avoid too early or too late cutting tool substitution that negatively affect machining time and cost

Distributed estimation techniques forcyber-physical systems

Nowadays, with the increasing use of wireless networks, embedded devices and agents with processing and sensing capabilities, the development of distributed estimation techniques has become vital to monitor important variables of the system that are not directly available. Numerous distributed estimation techniques have been proposed in the literature according to the model of the system, noises and disturbances. One of the main objectives of this thesis is to search all those works that deal with distributed estimation techniques applied to cyber-physical systems, system of systems and heterogeneous systems, through using systematic review methodology. Even though systematic reviews are not the common way to survey a topic in the control community, they provide a rigorous, robust and objective formula that should not be ignored. The presented systematic review incorporates and adapts the guidelines recommended in other disciplines to the field of automation and control and presents a brief description of the different phases that constitute a systematic review. Undertaking the systematic review many gaps were discovered: it deserves to be remarked that some estimators are not applied to cyber-physical systems, such as sliding mode observers or set-membership observers. Subsequently, one of these particular techniques was chosen, set-membership estimator, to develop new applications for cyber-physical systems. This introduces the other objectives of the thesis, i.e. to present two novel formulations of distributed set-membership estimators. Both estimators use a multi-hop decomposition, so the dynamics of the system is rewritten to present a cascaded implementation of the distributed set-membership observer, decoupling the influence of the non-observable modes to the observable ones. So each agent must find a different set for each sub-space, instead of a unique set for all the states. Two different approaches have been used to address the same problem, that is, to design a guaranteed distributed estimation method for linear full-coupled systems affected by bounded disturbances, to be implemented in a set of distributed agents that need to communicate and collaborate to achieve this goal

Uma ferramenta unificada para projeto, desenvolvimento, execução e recomendação de experimentos de aprendizado de máquina

Orientadores: Ricardo da Silva Torres, Anderson de Rezende RochaDissertação (mestrado) - Universidade Estadual de Campinas, Instituto de ComputaçãoResumo: Devido ao grande crescimento do uso de tecnologias para a aquisição de dados, temos que lidar com grandes e complexos conjuntos de dados a fim de extrair conhecimento que possa auxiliar o processo de tomada de decisão em diversos domínios de aplicação. Uma solução típica para abordar esta questão se baseia na utilização de métodos de aprendizado de máquina, que são métodos computacionais que extraem conhecimento útil a partir de experiências para melhorar o desempenho de aplicações-alvo. Existem diversas bibliotecas e arcabouços na literatura que oferecem apoio à execução de experimentos de aprendizado de máquina, no entanto, alguns não são flexíveis o suficiente para poderem ser estendidos com novos métodos, além de não oferecerem mecanismos que permitam o reuso de soluções de sucesso concebidos em experimentos anteriores na ferramenta. Neste trabalho, propomos um arcabouço para automatizar experimentos de aprendizado de máquina, oferecendo um ambiente padronizado baseado em workflow, tornando mais fácil a tarefa de avaliar diferentes descritores de características, classificadores e abordagens de fusão em uma ampla gama de tarefas. Também propomos o uso de medidas de similaridade e métodos de learning-to-rank em um cenário de recomendação, para que usuários possam ter acesso a soluções alternativas envolvendo experimentos de aprendizado de máquina. Nós realizamos experimentos com quatro medidas de similaridade (Jaccard, Sorensen, Jaro-Winkler e baseada em TF-IDF) e um método de learning-to-rank (LRAR) na tarefa de recomendar workflows modelados como uma sequência de atividades. Os resultados dos experimentos mostram que a medida Jaro-Winkler obteve o melhor desempenho, com resultados comparáveis aos observados para o método LRAR. Em ambos os casos, as recomendações realizadas são promissoras, e podem ajudar usuários reais em diferentes tarefas de aprendizado de máquinaAbstract: Due to the large growth of the use of technologies for data acquisition, we have to handle large and complex data sets in order to extract knowledge that can support the decision-making process in several domains. A typical solution for addressing this issue relies on the use of machine learning methods, which are computational methods that extract useful knowledge from experience to improve performance of target applications. There are several libraries and frameworks in the literature that support the execution of machine learning experiments. However, some of them are not flexible enough for being extended with novel methods and they do not support reusing of successful solutions devised in previous experiments made in the framework. In this work, we propose a framework for automating machine learning experiments that provides a workflow-based standardized environment and makes it easy to evaluate different feature descriptors, classifiers, and fusion approaches in a wide range of tasks. We also propose the use of similarity measures and learning-to-rank methods in a recommendation scenario, in which users may have access to alternative machine learning experiments. We performed experiments with four similarity measures (Jaccard, Sorensen, Jaro-Winkler, and a TF-IDF-based measure) and one learning-to-rank method (LRAR) in the task of recommending workflows modeled as a sequence of activities. Experimental results show that Jaro-Winkler yields the highest effectiveness performance with comparable results to those observed for LRAR. In both cases, the recommendations performed are very promising and might help real-world users in different daily machine learning tasksMestradoCiência da ComputaçãoMestre em Ciência da Computaçã

Structureless Camera Motion Estimation of Unordered Omnidirectional Images

This work aims at providing a novel camera motion estimation pipeline from large collections of unordered omnidirectional images. In oder to keep the pipeline as general and flexible as possible, cameras are modelled as unit spheres, allowing to incorporate any central camera type. For each camera an unprojection lookup is generated from intrinsics, which is called P2S-map (Pixel-to-Sphere-map), mapping pixels to their corresponding positions on the unit sphere. Consequently the camera geometry becomes independent of the underlying projection model. The pipeline also generates P2S-maps from world map projections with less distortion effects as they are known from cartography. Using P2S-maps from camera calibration and world map projection allows to convert omnidirectional camera images to an appropriate world map projection in oder to apply standard feature extraction and matching algorithms for data association. The proposed estimation pipeline combines the flexibility of SfM (Structure from Motion) - which handles unordered image collections - with the efficiency of PGO (Pose Graph Optimization), which is used as back-end in graph-based Visual SLAM (Simultaneous Localization and Mapping) approaches to optimize camera poses from large image sequences. SfM uses BA (Bundle Adjustment) to jointly optimize camera poses (motion) and 3d feature locations (structure), which becomes computationally expensive for large-scale scenarios. On the contrary PGO solves for camera poses (motion) from measured transformations between cameras, maintaining optimization managable. The proposed estimation algorithm combines both worlds. It obtains up-to-scale transformations between image pairs using two-view constraints, which are jointly scaled using trifocal constraints. A pose graph is generated from scaled two-view transformations and solved by PGO to obtain camera motion efficiently even for large image collections. Obtained results can be used as input data to provide initial pose estimates for further 3d reconstruction purposes e.g. to build a sparse structure from feature correspondences in an SfM or SLAM framework with further refinement via BA. The pipeline also incorporates fixed extrinsic constraints from multi-camera setups as well as depth information provided by RGBD sensors. The entire camera motion estimation pipeline does not need to generate a sparse 3d structure of the captured environment and thus is called SCME (Structureless Camera Motion Estimation).:1 Introduction 1.1 Motivation 1.1.1 Increasing Interest of Image-Based 3D Reconstruction 1.1.2 Underground Environments as Challenging Scenario 1.1.3 Improved Mobile Camera Systems for Full Omnidirectional Imaging 1.2 Issues 1.2.1 Directional versus Omnidirectional Image Acquisition 1.2.2 Structure from Motion versus Visual Simultaneous Localization and Mapping 1.3 Contribution 1.4 Structure of this Work 2 Related Work 2.1 Visual Simultaneous Localization and Mapping 2.1.1 Visual Odometry 2.1.2 Pose Graph Optimization 2.2 Structure from Motion 2.2.1 Bundle Adjustment 2.2.2 Structureless Bundle Adjustment 2.3 Corresponding Issues 2.4 Proposed Reconstruction Pipeline 3 Cameras and Pixel-to-Sphere Mappings with P2S-Maps 3.1 Types 3.2 Models 3.2.1 Unified Camera Model 3.2.2 Polynomal Camera Model 3.2.3 Spherical Camera Model 3.3 P2S-Maps - Mapping onto Unit Sphere via Lookup Table 3.3.1 Lookup Table as Color Image 3.3.2 Lookup Interpolation 3.3.3 Depth Data Conversion 4 Calibration 4.1 Overview of Proposed Calibration Pipeline 4.2 Target Detection 4.3 Intrinsic Calibration 4.3.1 Selected Examples 4.4 Extrinsic Calibration 4.4.1 3D-2D Pose Estimation 4.4.2 2D-2D Pose Estimation 4.4.3 Pose Optimization 4.4.4 Uncertainty Estimation 4.4.5 PoseGraph Representation 4.4.6 Bundle Adjustment 4.4.7 Selected Examples 5 Full Omnidirectional Image Projections 5.1 Panoramic Image Stitching 5.2 World Map Projections 5.3 World Map Projection Generator for P2S-Maps 5.4 Conversion between Projections based on P2S-Maps 5.4.1 Proposed Workflow 5.4.2 Data Storage Format 5.4.3 Real World Example 6 Relations between Two Camera Spheres 6.1 Forward and Backward Projection 6.2 Triangulation 6.2.1 Linear Least Squares Method 6.2.2 Alternative Midpoint Method 6.3 Epipolar Geometry 6.4 Transformation Recovery from Essential Matrix 6.4.1 Cheirality 6.4.2 Standard Procedure 6.4.3 Simplified Procedure 6.4.4 Improved Procedure 6.5 Two-View Estimation 6.5.1 Evaluation Strategy 6.5.2 Error Metric 6.5.3 Evaluation of Estimation Algorithms 6.5.4 Concluding Remarks 6.6 Two-View Optimization 6.6.1 Epipolar-Based Error Distances 6.6.2 Projection-Based Error Distances 6.6.3 Comparison between Error Distances 6.7 Two-View Translation Scaling 6.7.1 Linear Least Squares Estimation 6.7.2 Non-Linear Least Squares Optimization 6.7.3 Comparison between Initial and Optimized Scaling Factor 6.8 Homography to Identify Degeneracies 6.8.1 Homography for Spherical Cameras 6.8.2 Homography Estimation 6.8.3 Homography Optimization 6.8.4 Homography and Pure Rotation 6.8.5 Homography in Epipolar Geometry 7 Relations between Three Camera Spheres 7.1 Three View Geometry 7.2 Crossing Epipolar Planes Geometry 7.3 Trifocal Geometry 7.4 Relation between Trifocal, Three-View and Crossing Epipolar Planes 7.5 Translation Ratio between Up-To-Scale Two-View Transformations 7.5.1 Structureless Determination Approaches 7.5.2 Structure-Based Determination Approaches 7.5.3 Comparison between Proposed Approaches 8 Pose Graphs 8.1 Optimization Principle 8.2 Solvers 8.2.1 Additional Graph Solvers 8.2.2 False Loop Closure Detection 8.3 Pose Graph Generation 8.3.1 Generation of Synthetic Pose Graph Data 8.3.2 Optimization of Synthetic Pose Graph Data 9 Structureless Camera Motion Estimation 9.1 SCME Pipeline 9.2 Determination of Two-View Translation Scale Factors 9.3 Integration of Depth Data 9.4 Integration of Extrinsic Camera Constraints 10 Camera Motion Estimation Results 10.1 Directional Camera Images 10.2 Omnidirectional Camera Images 11 Conclusion 11.1 Summary 11.2 Outlook and Future Work Appendices A.1 Additional Extrinsic Calibration Results A.2 Linear Least Squares Scaling A.3 Proof Rank Deficiency A.4 Alternative Derivation Midpoint Method A.5 Simplification of Depth Calculation A.6 Relation between Epipolar and Circumferential Constraint A.7 Covariance Estimation A.8 Uncertainty Estimation from Epipolar Geometry A.9 Two-View Scaling Factor Estimation: Uncertainty Estimation A.10 Two-View Scaling Factor Optimization: Uncertainty Estimation A.11 Depth from Adjoining Two-View Geometries A.12 Alternative Three-View Derivation A.12.1 Second Derivation Approach A.12.2 Third Derivation Approach A.13 Relation between Trifocal Geometry and Alternative Midpoint Method A.14 Additional Pose Graph Generation Examples A.15 Pose Graph Solver Settings A.16 Additional Pose Graph Optimization Examples Bibliograph