51 research outputs found
An Improvement over the GVW Algorithm for Inhomogeneous Polynomial Systems
The GVW algorithm is a signature-based algorithm for computing Gr\"obner
bases. If the input system is not homogeneous, some J-pairs with higher
signatures but lower degrees are rejected by GVW's Syzygy Criterion, instead,
GVW have to compute some J-pairs with lower signatures but higher degrees.
Consequently, degrees of polynomials appearing during the computations may
unnecessarily grow up higher and the computation become more expensive. In this
paper, a variant of the GVW algorithm, called M-GVW, is proposed and mutant
pairs are introduced to overcome inconveniences brought by inhomogeneous input
polynomials. Some techniques from linear algebra are used to improve the
efficiency. Both GVW and M-GVW have been implemented in C++ and tested by many
examples from boolean polynomial rings. The timings show M-GVW usually performs
much better than the original GVW algorithm when mutant pairs are found.
Besides, M-GVW is also compared with intrinsic Gr\"obner bases functions on
Maple, Singular and Magma. Due to the efficient routines from the M4RI library,
the experimental results show that M-GVW is very efficient
Sensor Networks TDOA Self-Calibration: 2D Complexity Analysis and Solutions
Given a network of receivers and transmitters, the process of determining
their positions from measured pseudo-ranges is known as network
self-calibration. In this paper we consider 2D networks with synchronized
receivers but unsynchronized transmitters and the corresponding calibration
techniques,known as TDOA techniques. Despite previous work, TDOA
self-calibration is computationally challenging. Iterative algorithms are very
sensitive to the initialization, causing convergence issues.In this paper, we
present a novel approach, which gives an algebraic solution to three previously
unsolved scenarios. Our solvers can lead to a position error <1.2% and are
robust to noise
Sparse resultant based minimal solvers in computer vision and their connection with the action matrix
Many computer vision applications require robust and efficient estimation of
camera geometry from a minimal number of input data measurements, i.e., solving
minimal problems in a RANSAC framework. Minimal problems are usually formulated
as complex systems of sparse polynomials. The systems usually are
overdetermined and consist of polynomials with algebraically constrained
coefficients. Most state-of-the-art efficient polynomial solvers are based on
the action matrix method that has been automated and highly optimized in recent
years. On the other hand, the alternative theory of sparse resultants and
Newton polytopes has been less successful for generating efficient solvers,
primarily because the polytopes do not respect the constraints on the
coefficients. Therefore, in this paper, we propose a simple iterative scheme to
test various subsets of the Newton polytopes and search for the most efficient
solver. Moreover, we propose to use an extra polynomial with a special form to
further improve the solver efficiency via a Schur complement computation. We
show that for some camera geometry problems our extra polynomial-based method
leads to smaller and more stable solvers than the state-of-the-art Grobner
basis-based solvers. The proposed method can be fully automated and
incorporated into existing tools for automatic generation of efficient
polynomial solvers. It provides a competitive alternative to popular Grobner
basis-based methods for minimal problems in computer vision. We also study the
conditions under which the minimal solvers generated by the state-of-the-art
action matrix-based methods and the proposed extra polynomial resultant-based
method, are equivalent. Specifically we consider a step-by-step comparison
between the approaches based on the action matrix and the sparse resultant,
followed by a set of substitutions, which would lead to equivalent minimal
solvers.Comment: arXiv admin note: text overlap with arXiv:1912.1026
Computational Methods for Computer Vision : Minimal Solvers and Convex Relaxations
Robust fitting of geometric models is a core problem in computer vision. The most common approach is to use a hypothesize-and-test framework, such as RANSAC. In these frameworks the model is estimated from as few measurements as possible, which minimizes the risk of selecting corrupted measurements. These estimation problems are called minimal problems, and they can often be formulated as systems of polynomial equations. In this thesis we present new methods for building so-called minimal solvers or polynomial solvers, which are specialized code for solving such systems. On several minimal problems we improve on the state-of-the-art both with respect to numerical stability and execution time.In many computer vision problems low rank matrices naturally occur. The rank can serve as a measure of model complexity and typically a low rank is desired. Optimization problems containing rank penalties or constraints are in general difficult. Recently convex relaxations, such as the nuclear norm, have been used to make these problems tractable. In this thesis we present new convex relaxations for rank-based optimization which avoid drawbacks of previous approaches and provide tighter relaxations. We evaluate our methods on a number of real and synthetic datasets and show state-of-the-art results
Beyond Gr\"obner Bases: Basis Selection for Minimal Solvers
Many computer vision applications require robust estimation of the underlying
geometry, in terms of camera motion and 3D structure of the scene. These robust
methods often rely on running minimal solvers in a RANSAC framework. In this
paper we show how we can make polynomial solvers based on the action matrix
method faster, by careful selection of the monomial bases. These monomial bases
have traditionally been based on a Gr\"obner basis for the polynomial ideal.
Here we describe how we can enumerate all such bases in an efficient way. We
also show that going beyond Gr\"obner bases leads to more efficient solvers in
many cases. We present a novel basis sampling scheme that we evaluate on a
number of problems
Radially-Distorted Conjugate Translations
This paper introduces the first minimal solvers that jointly solve for
affine-rectification and radial lens distortion from coplanar repeated
patterns. Even with imagery from moderately distorted lenses, plane
rectification using the pinhole camera model is inaccurate or invalid. The
proposed solvers incorporate lens distortion into the camera model and extend
accurate rectification to wide-angle imagery, which is now common from consumer
cameras. The solvers are derived from constraints induced by the conjugate
translations of an imaged scene plane, which are integrated with the division
model for radial lens distortion. The hidden-variable trick with ideal
saturation is used to reformulate the constraints so that the solvers generated
by the Grobner-basis method are stable, small and fast.
Rectification and lens distortion are recovered from either one conjugately
translated affine-covariant feature or two independently translated
similarity-covariant features. The proposed solvers are used in a \RANSAC-based
estimator, which gives accurate rectifications after few iterations. The
proposed solvers are evaluated against the state-of-the-art and demonstrate
significantly better rectifications on noisy measurements. Qualitative results
on diverse imagery demonstrate high-accuracy undistortions and rectifications.
The source code is publicly available at https://github.com/prittjam/repeats
Rectification from Radially-Distorted Scales
This paper introduces the first minimal solvers that jointly estimate lens
distortion and affine rectification from repetitions of rigidly transformed
coplanar local features. The proposed solvers incorporate lens distortion into
the camera model and extend accurate rectification to wide-angle images that
contain nearly any type of coplanar repeated content. We demonstrate a
principled approach to generating stable minimal solvers by the Grobner basis
method, which is accomplished by sampling feasible monomial bases to maximize
numerical stability. Synthetic and real-image experiments confirm that the
solvers give accurate rectifications from noisy measurements when used in a
RANSAC-based estimator. The proposed solvers demonstrate superior robustness to
noise compared to the state-of-the-art. The solvers work on scenes without
straight lines and, in general, relax the strong assumptions on scene content
made by the state-of-the-art. Accurate rectifications on imagery that was taken
with narrow focal length to near fish-eye lenses demonstrate the wide
applicability of the proposed method. The method is fully automated, and the
code is publicly available at https://github.com/prittjam/repeats.Comment: pre-prin
Trifocal Relative Pose from Lines at Points and its Efficient Solution
We present a new minimal problem for relative pose estimation mixing point
features with lines incident at points observed in three views and its
efficient homotopy continuation solver. We demonstrate the generality of the
approach by analyzing and solving an additional problem with mixed point and
line correspondences in three views. The minimal problems include
correspondences of (i) three points and one line and (ii) three points and two
lines through two of the points which is reported and analyzed here for the
first time. These are difficult to solve, as they have 216 and - as shown here
- 312 solutions, but cover important practical situations when line and point
features appear together, e.g., in urban scenes or when observing curves. We
demonstrate that even such difficult problems can be solved robustly using a
suitable homotopy continuation technique and we provide an implementation
optimized for minimal problems that can be integrated into engineering
applications. Our simulated and real experiments demonstrate our solvers in the
camera geometry computation task in structure from motion. We show that new
solvers allow for reconstructing challenging scenes where the standard two-view
initialization of structure from motion fails.Comment: This material is based upon work supported by the National Science
Foundation under Grant No. DMS-1439786 while most authors were in residence
at Brown University's Institute for Computational and Experimental Research
in Mathematics -- ICERM, in Providence, R
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