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

Anosov subgroups: Dynamical and geometric characterizations

We study infinite covolume discrete subgroups of higher rank semisimple Lie groups, motivated by understanding basic properties of Anosov subgroups from various viewpoints (geometric, coarse geometric and dynamical). The class of Anosov subgroups constitutes a natural generalization of convex cocompact subgroups of rank one Lie groups to higher rank. Our main goal is to give several new equivalent characterizations for this important class of discrete subgroups. Our characterizations capture "rank one behavior" of Anosov subgroups and are direct generalizations of rank one equivalents to convex cocompactness. Along the way, we considerably simplify the original definition, avoiding the geodesic flow. We also show that the Anosov condition can be relaxed further by requiring only non-uniform unbounded expansion along the (quasi)geodesics in the group.Comment: 88 page