11,466 research outputs found
Convex Relaxations of SE(2) and SE(3) for Visual Pose Estimation
This paper proposes a new method for rigid body pose estimation based on
spectrahedral representations of the tautological orbitopes of and
. The approach can use dense point cloud data from stereo vision or an
RGB-D sensor (such as the Microsoft Kinect), as well as visual appearance data.
The method is a convex relaxation of the classical pose estimation problem, and
is based on explicit linear matrix inequality (LMI) representations for the
convex hulls of and . Given these representations, the relaxed
pose estimation problem can be framed as a robust least squares problem with
the optimization variable constrained to these convex sets. Although this
formulation is a relaxation of the original problem, numerical experiments
indicate that it is indeed exact - i.e. its solution is a member of or
- in many interesting settings. We additionally show that this method
is guaranteed to be exact for a large class of pose estimation problems.Comment: ICRA 2014 Preprin
A flexible space-variant anisotropic regularisation for image restoration with automated parameter selection
We propose a new space-variant anisotropic regularisation term for
variational image restoration, based on the statistical assumption that the
gradients of the target image distribute locally according to a bivariate
generalised Gaussian distribution. The highly flexible variational structure of
the corresponding regulariser encodes several free parameters which hold the
potential for faithfully modelling the local geometry in the image and
describing local orientation preferences. For an automatic estimation of such
parameters, we design a robust maximum likelihood approach and report results
on its reliability on synthetic data and natural images. For the numerical
solution of the corresponding image restoration model, we use an iterative
algorithm based on the Alternating Direction Method of Multipliers (ADMM). A
suitable preliminary variable splitting together with a novel result in
multivariate non-convex proximal calculus yield a very efficient minimisation
algorithm. Several numerical results showing significant quality-improvement of
the proposed model with respect to some related state-of-the-art competitors
are reported, in particular in terms of texture and detail preservation
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