Hierarchical structure-and-motion recovery from uncalibrated images

This paper addresses the structure-and-motion problem, that requires to find camera motion and 3D struc- ture from point matches. A new pipeline, dubbed Samantha, is presented, that departs from the prevailing sequential paradigm and embraces instead a hierarchical approach. This method has several advantages, like a provably lower computational complexity, which is necessary to achieve true scalability, and better error containment, leading to more stability and less drift. Moreover, a practical autocalibration procedure allows to process images without ancillary information. Experiments with real data assess the accuracy and the computational efficiency of the method.Comment: Accepted for publication in CVI

Detecting 2-joins faster

2-joins are edge cutsets that naturally appear in the decomposition of several classes of graphs closed under taking induced subgraphs, such as balanced bipartite graphs, even-hole-free graphs, perfect graphs and claw-free graphs. Their detection is needed in several algorithms, and is the slowest step for some of them. The classical method to detect a 2-join takes $O(n^3m)$ time where $n$ is the number of vertices of the input graph and $m$ the number of its edges. To detect \emph{non-path} 2-joins (special kinds of 2-joins that are needed in all of the known algorithms that use 2-joins), the fastest known method takes time $O(n^4m)$. Here, we give an $O(n^2m)$-time algorithm for both of these problems. A consequence is a speed up of several known algorithms

Some recent results in the analysis of greedy algorithms for assignment problems

We survey some recent developments in the analysis of greedy algorithms for assignment and transportation problems. We focus on the linear programming model for matroids and linear assignment problems with Monge property, on general linear programs, probabilistic analysis for linear assignment and makespan minimization, and on-line algorithms for linear and non-linear assignment problems

Convolutional Networks for Object Category and 3D Pose Estimation from 2D Images

Current CNN-based algorithms for recovering the 3D pose of an object in an image assume knowledge about both the object category and its 2D localization in the image. In this paper, we relax one of these constraints and propose to solve the task of joint object category and 3D pose estimation from an image assuming known 2D localization. We design a new architecture for this task composed of a feature network that is shared between subtasks, an object categorization network built on top of the feature network, and a collection of category dependent pose regression networks. We also introduce suitable loss functions and a training method for the new architecture. Experiments on the challenging PASCAL3D+ dataset show state-of-the-art performance in the joint categorization and pose estimation task. Moreover, our performance on the joint task is comparable to the performance of state-of-the-art methods on the simpler 3D pose estimation with known object category task

Computation in Finitary Stochastic and Quantum Processes

We introduce stochastic and quantum finite-state transducers as computation-theoretic models of classical stochastic and quantum finitary processes. Formal process languages, representing the distribution over a process's behaviors, are recognized and generated by suitable specializations. We characterize and compare deterministic and nondeterministic versions, summarizing their relative computational power in a hierarchy of finitary process languages. Quantum finite-state transducers and generators are a first step toward a computation-theoretic analysis of individual, repeatedly measured quantum dynamical systems. They are explored via several physical systems, including an iterated beam splitter, an atom in a magnetic field, and atoms in an ion trap--a special case of which implements the Deutsch quantum algorithm. We show that these systems' behaviors, and so their information processing capacity, depends sensitively on the measurement protocol.Comment: 25 pages, 16 figures, 1 table; http://cse.ucdavis.edu/~cmg; numerous corrections and update