GASP : Geometric Association with Surface Patches

A fundamental challenge to sensory processing tasks in perception and robotics is the problem of obtaining data associations across views. We present a robust solution for ascertaining potentially dense surface patch (superpixel) associations, requiring just range information. Our approach involves decomposition of a view into regularized surface patches. We represent them as sequences expressing geometry invariantly over their superpixel neighborhoods, as uniquely consistent partial orderings. We match these representations through an optimal sequence comparison metric based on the Damerau-Levenshtein distance - enabling robust association with quadratic complexity (in contrast to hitherto employed joint matching formulations which are NP-complete). The approach is able to perform under wide baselines, heavy rotations, partial overlaps, significant occlusions and sensor noise. The technique does not require any priors -- motion or otherwise, and does not make restrictive assumptions on scene structure and sensor movement. It does not require appearance -- is hence more widely applicable than appearance reliant methods, and invulnerable to related ambiguities such as textureless or aliased content. We present promising qualitative and quantitative results under diverse settings, along with comparatives with popular approaches based on range as well as RGB-D data.Comment: International Conference on 3D Vision, 201

Rounding Algorithms for a Geometric Embedding of Minimum Multiway Cut

The multiway-cut problem is, given a weighted graph and k >= 2 terminal nodes, to find a minimum-weight set of edges whose removal separates all the terminals. The problem is NP-hard, and even NP-hard to approximate within 1+delta for some small delta > 0. Calinescu, Karloff, and Rabani (1998) gave an algorithm with performance guarantee 3/2-1/k, based on a geometric relaxation of the problem. In this paper, we give improved randomized rounding schemes for their relaxation, yielding a 12/11-approximation algorithm for k=3 and a 1.3438-approximation algorithm in general. Our approach hinges on the observation that the problem of designing a randomized rounding scheme for a geometric relaxation is itself a linear programming problem. The paper explores computational solutions to this problem, and gives a proof that for a general class of geometric relaxations, there are always randomized rounding schemes that match the integrality gap.Comment: Conference version in ACM Symposium on Theory of Computing (1999). To appear in Mathematics of Operations Researc