The space of essential matrices as a Riemannian quotient manifold

The essential matrix, which encodes the epipolar constraint between points in two projective views, is a cornerstone of modern computer vision. Previous works have proposed different characterizations of the space of essential matrices as a Riemannian manifold. However, they either do not consider the symmetric role played by the two views, or do not fully take into account the geometric peculiarities of the epipolar constraint. We address these limitations with a characterization as a quotient manifold which can be easily interpreted in terms of camera poses. While our main focus in on theoretical aspects, we include applications to optimization problems in computer vision.This work was supported by grants NSF-IIP-0742304, NSF-OIA-1028009, ARL MAST-CTA W911NF-08-2-0004, and ARL RCTA W911NF-10-2-0016, NSF-DGE-0966142, and NSF-IIS-1317788

A class of knots with simple SU(2)SU(2) representations

We call a knot in the 3-sphere $SU(2)$-simple if all representations of the fundamental group of its complement which map a meridian to a trace-free element in $SU(2)$ are binary dihedral. This is a generalisation of being a 2-bridge knot. Pretzel knots with bridge number $\geq 3$ are not $SU(2)$-simple. We provide an infinite family of knots $K$ with bridge number $\geq 3$ which are $SU(2)$-simple. One expects the instanton knot Floer homology $I^\natural(K)$ of a $SU(2)$-simple knot to be as small as it can be -- of rank equal to the knot determinant $\det(K)$. In fact, the complex underlying $I^\natural(K)$ is of rank equal to $\det(K)$, provided a genericity assumption holds that is reasonable to expect. Thus formally there is a resemblance to strong L-spaces in Heegaard Floer homology. For the class of $SU(2)$-simple knots that we introduce this formal resemblance is reflected topologically: The branched double covers of these knots are strong L-spaces. In fact, somewhat surprisingly, these knots are alternating. However, the Conway spheres are hidden in any alternating diagram. With the methods we use, we show that an integer homology 3-sphere which is a graph manifold always admits irreducible representations of its fundamental group.Comment: 22 pages, 10 figures, to appear in Selecta Mathematic

Orders of elements in finite quotients of Kleinian groups

A positive integer $m$ will be called a {\it finitistic order} for an element $\gamma$ of a group $\Gamma$ if there exist a finite group $G$ and a homomorphism $h:\Gamma\to G$ such that $h(\gamma)$ has order $m$ in $G$. It is shown that up to conjugacy, all but finitely many elements of a given finitely generated, torsion-free Kleinian group admit a given integer $m>2$ as a finitistic order.Comment: 21 pp. I have largely rewritten Section 2 in order to correct the statement of Proposition 2.7. The original statement was not logically clear, and was not well adapted to an application in the more recent paper [22