76 research outputs found
Convex Relaxations of SE(2) and SE(3) for Visual Pose Estimation
This paper proposes a new method for rigid body pose estimation based on
spectrahedral representations of the tautological orbitopes of and
. The approach can use dense point cloud data from stereo vision or an
RGB-D sensor (such as the Microsoft Kinect), as well as visual appearance data.
The method is a convex relaxation of the classical pose estimation problem, and
is based on explicit linear matrix inequality (LMI) representations for the
convex hulls of and . Given these representations, the relaxed
pose estimation problem can be framed as a robust least squares problem with
the optimization variable constrained to these convex sets. Although this
formulation is a relaxation of the original problem, numerical experiments
indicate that it is indeed exact - i.e. its solution is a member of or
- in many interesting settings. We additionally show that this method
is guaranteed to be exact for a large class of pose estimation problems.Comment: ICRA 2014 Preprin
Orbitopes
An orbitope is the convex hull of an orbit of a compact group acting linearly
on a vector space. These highly symmetric convex bodies lie at the crossroads
of several fields, in particular convex geometry, optimization, and algebraic
geometry. We present a self-contained theory of orbitopes, with particular
emphasis on instances arising from the groups SO(n) and O(n). These include
Schur-Horn orbitopes, tautological orbitopes, Caratheodory orbitopes, Veronese
orbitopes and Grassmann orbitopes. We study their face lattices, their
algebraic boundary hypersurfaces, and representations as spectrahedra or
projected spectrahedra.Comment: 37 pages. minor revisions of origina
Semidefinite descriptions of the convex hull of rotation matrices
We study the convex hull of , thought of as the set of
orthogonal matrices with unit determinant, from the point of view of
semidefinite programming. We show that the convex hull of is doubly
spectrahedral, i.e. both it and its polar have a description as the
intersection of a cone of positive semidefinite matrices with an affine
subspace. Our spectrahedral representations are explicit, and are of minimum
size, in the sense that there are no smaller spectrahedral representations of
these convex bodies.Comment: 29 pages, 1 figur
A Convex Approach to Consensus on SO(n)
This paper introduces several new algorithms for consensus over the special
orthogonal group. By relying on a convex relaxation of the space of rotation
matrices, consensus over rotation elements is reduced to solving a convex
problem with a unique global solution. The consensus protocol is then
implemented as a distributed optimization using (i) dual decomposition, and
(ii) both semi and fully distributed variants of the alternating direction
method of multipliers technique -- all with strong convergence guarantees. The
convex relaxation is shown to be exact at all iterations of the dual
decomposition based method, and exact once consensus is reached in the case of
the alternating direction method of multipliers. Further, analytic and/or
efficient solutions are provided for each iteration of these distributed
computation schemes, allowing consensus to be reached without any online
optimization. Examples in satellite attitude alignment with up to 100 agents,
an estimation problem from computer vision, and a rotation averaging problem on
validate the approach.Comment: Accepted to 52nd Annual Allerton Conference on Communication,
Control, and Computin
Generating anatomical substructures for physically-based facial animation.
Physically-based facial animation techniques are capable of producing realistic facial deformations, but have failed to find meaningful use outside the academic community because they are notoriously difficult to create, reuse, and art-direct, in comparison to other methods of facial animation. This thesis addresses these shortcomings and presents a series of methods for automatically generating a skull, the superficial musculoaponeurotic system (SMAS – a layer of fascia investing and interlinking the mimic muscle system), and mimic muscles for any given 3D face model. This is done toward (the goal of) a production-viable framework or rig-builder for physically-based facial animation. This workflow consists of three major steps. First, a generic skull is fitted to a given head model using thin-plate splines computed from the correspondence between landmarks
placed on both models. Second, the SMAS is constructed as a variational implicit or radial basis function surface in the interface between the head model and the generic skull
fitted to it. Lastly, muscle fibres are generated as boundary-value straightest geodesics, connecting muscle attachment regions defined on the surface of the SMAS. Each step of this workflow is developed with speed, realism and reusability in mind
Generating anatomical substructures for physically-based facial animation
Physically-based facial animation techniques are capable of producing realistic facial deformations, but have failed to find meaningful use outside the academic community because they are notoriously difficult to create, reuse, and art-direct, in comparison to other methods of facial animation. This thesis addresses these shortcomings and presents a series of methods for automatically generating a skull, the superficial musculoaponeurotic system (SMAS – a layer of fascia investing and interlinking the mimic muscle system), and mimic muscles for any given 3D face model. This is done toward (the goal of) a production-viable framework or rig-builder for physically-based facial animation. This workflow consists of three major steps. First, a generic skull is fitted to a given head model using thin-plate splines computed from the correspondence between landmarks placed on both models. Second, the SMAS is constructed as a variational implicit or radial basis function surface in the interface between the head model and the generic skull fitted to it. Lastly, muscle fibres are generated as boundary-value straightest geodesics, connecting muscle attachment regions defined on the surface of the SMAS. Each step of this workflow is developed with speed, realism and reusability in mind.EThOS - Electronic Theses Online ServiceGBUnited Kingdo
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