15,148 research outputs found
Non-linear optimization for robust estimation of vanishing points
A new method for robust estimation of vanishing points is introduced in this paper. It is based on the MSAC (M-estimator Sample and Consensus) algorithm and on the definition of a new distance function between a vanishing point and a given orientation. Apart from the robustness, our method represents a flexible and efficient solution, since it allows to work with different type of image data, and its iterative nature makes better use of the available information to obtain more accurate estimates. The key issue of the work is the proposed distance function, that makes the error to be independent from the position of an hypothesized vanishing point, which allows to work with points at the infinity. Besides, the estimation process is guided by a non-linear optimization process that enhances the accuracy of the system. The robustness of our proposal, compared with other methods in the literature is shown with a set of tests carried out for both synthetic data and real images. The results show that our approach obtain excellent levels of accuracy and that is definitely robust against the presence of large amounts of outliers, outperforming other state of the art approaches
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
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
Bispectrum Inversion with Application to Multireference Alignment
We consider the problem of estimating a signal from noisy
circularly-translated versions of itself, called multireference alignment
(MRA). One natural approach to MRA could be to estimate the shifts of the
observations first, and infer the signal by aligning and averaging the data. In
contrast, we consider a method based on estimating the signal directly, using
features of the signal that are invariant under translations. Specifically, we
estimate the power spectrum and the bispectrum of the signal from the
observations. Under mild assumptions, these invariant features contain enough
information to infer the signal. In particular, the bispectrum can be used to
estimate the Fourier phases. To this end, we propose and analyze a few
algorithms. Our main methods consist of non-convex optimization over the smooth
manifold of phases. Empirically, in the absence of noise, these non-convex
algorithms appear to converge to the target signal with random initialization.
The algorithms are also robust to noise. We then suggest three additional
methods. These methods are based on frequency marching, semidefinite relaxation
and integer programming. The first two methods provably recover the phases
exactly in the absence of noise. In the high noise level regime, the invariant
features approach for MRA results in stable estimation if the number of
measurements scales like the cube of the noise variance, which is the
information-theoretic rate. Additionally, it requires only one pass over the
data which is important at low signal-to-noise ratio when the number of
observations must be large
Penalized Composite Quasi-Likelihood for Ultrahigh-Dimensional Variable Selection
In high-dimensional model selection problems, penalized simple least-square
approaches have been extensively used. This paper addresses the question of
both robustness and efficiency of penalized model selection methods, and
proposes a data-driven weighted linear combination of convex loss functions,
together with weighted -penalty. It is completely data-adaptive and does
not require prior knowledge of the error distribution. The weighted
-penalty is used both to ensure the convexity of the penalty term and to
ameliorate the bias caused by the -penalty. In the setting with
dimensionality much larger than the sample size, we establish a strong oracle
property of the proposed method that possesses both the model selection
consistency and estimation efficiency for the true non-zero coefficients. As
specific examples, we introduce a robust method of composite L1-L2, and optimal
composite quantile method and evaluate their performance in both simulated and
real data examples
Robust Estimation and Wavelet Thresholding in Partial Linear Models
This paper is concerned with a semiparametric partially linear regression
model with unknown regression coefficients, an unknown nonparametric function
for the non-linear component, and unobservable Gaussian distributed random
errors. We present a wavelet thresholding based estimation procedure to
estimate the components of the partial linear model by establishing a
connection between an -penalty based wavelet estimator of the
nonparametric component and Huber's M-estimation of a standard linear model
with outliers. Some general results on the large sample properties of the
estimates of both the parametric and the nonparametric part of the model are
established. Simulations and a real example are used to illustrate the general
results and to compare the proposed methodology with other methods available in
the recent literature
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