1,150 research outputs found
Robust Rotation Synchronization via Low-rank and Sparse Matrix Decomposition
This paper deals with the rotation synchronization problem, which arises in
global registration of 3D point-sets and in structure from motion. The problem
is formulated in an unprecedented way as a "low-rank and sparse" matrix
decomposition that handles both outliers and missing data. A minimization
strategy, dubbed R-GoDec, is also proposed and evaluated experimentally against
state-of-the-art algorithms on simulated and real data. The results show that
R-GoDec is the fastest among the robust algorithms.Comment: The material contained in this paper is part of a manuscript
submitted to CVI
Robust Camera Location Estimation by Convex Programming
D structure recovery from a collection of D images requires the
estimation of the camera locations and orientations, i.e. the camera motion.
For large, irregular collections of images, existing methods for the location
estimation part, which can be formulated as the inverse problem of estimating
locations in
from noisy measurements of a subset of the pairwise directions
, are
sensitive to outliers in direction measurements. In this paper, we firstly
provide a complete characterization of well-posed instances of the location
estimation problem, by presenting its relation to the existing theory of
parallel rigidity. For robust estimation of camera locations, we introduce a
two-step approach, comprised of a pairwise direction estimation method robust
to outliers in point correspondences between image pairs, and a convex program
to maintain robustness to outlier directions. In the presence of partially
corrupted measurements, we empirically demonstrate that our convex formulation
can even recover the locations exactly. Lastly, we demonstrate the utility of
our formulations through experiments on Internet photo collections.Comment: 10 pages, 6 figures, 3 table
Nonparametric Feature Extraction from Dendrograms
We propose feature extraction from dendrograms in a nonparametric way. The
Minimax distance measures correspond to building a dendrogram with single
linkage criterion, with defining specific forms of a level function and a
distance function over that. Therefore, we extend this method to arbitrary
dendrograms. We develop a generalized framework wherein different distance
measures can be inferred from different types of dendrograms, level functions
and distance functions. Via an appropriate embedding, we compute a vector-based
representation of the inferred distances, in order to enable many numerical
machine learning algorithms to employ such distances. Then, to address the
model selection problem, we study the aggregation of different dendrogram-based
distances respectively in solution space and in representation space in the
spirit of deep representations. In the first approach, for example for the
clustering problem, we build a graph with positive and negative edge weights
according to the consistency of the clustering labels of different objects
among different solutions, in the context of ensemble methods. Then, we use an
efficient variant of correlation clustering to produce the final clusters. In
the second approach, we investigate the sequential combination of different
distances and features sequentially in the spirit of multi-layered
architectures to obtain the final features. Finally, we demonstrate the
effectiveness of our approach via several numerical studies
On Repetitive Scenario Design
Repetitive Scenario Design (RSD) is a randomized approach to robust design
based on iterating two phases: a standard scenario design phase that uses
scenarios (design samples), followed by randomized feasibility phase that uses
test samples on the scenario solution. We give a full and exact
probabilistic characterization of the number of iterations required by the RSD
approach for returning a solution, as a function of , , and of the
desired levels of probabilistic robustness in the solution. This novel approach
broadens the applicability of the scenario technology, since the user is now
presented with a clear tradeoff between the number of design samples and
the ensuing expected number of repetitions required by the RSD algorithm. The
plain (one-shot) scenario design becomes just one of the possibilities, sitting
at one extreme of the tradeoff curve, in which one insists in finding a
solution in a single repetition: this comes at the cost of possibly high .
Other possibilities along the tradeoff curve use lower values, but possibly
require more than one repetition
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