30,873 research outputs found
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
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
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