We present a novel method for motion segmentation called LAAV (Locally Affine Atom Voting). Our model's main novelty is using sets of features to segment motion for all features in the scene. LAAV acts as a pre-processing pipeline stage for features in the image, followed by a fine-tuned version of the state-of-the-art Random Voting (RV) method. Unlike standard approaches, LAAV segments motion using feature-set affinities instead of pair-wise affinities between all features; therefore, it significantly simplifies complex scenarios and reduces the computational cost without a loss of accuracy. We describe how the challenges encountered by using previously suggested approaches are addressed using our model. We then compare our algorithm with several state-of-the-art methods. Experiments shows that our approach achieves the most accurate motion segmentation results and, in the presence of measurement noise, achieves comparable results to the other algorithms.
The Multiview approach utilizes the trajectory of the feature points. PAC @cite_23 and SSC @cite_17 methods have quite accurate results in multiple motion cases in a sequence and are also robust to noise. However, those algorithms are extremely slow. Latent low-rank representation-based method (LatLRR) @cite_20 is faster and more accurate, but this method becomes degraded in extremely noisy environments. The ICLM-based approach @cite_16 is very fast, but has lower accuracy than other state-of-the-art approaches. In addition, while Multiview approaches are more accurate than Two-view approaches, they do not have good performance when there are only a few frames.
@cite_16 @cite_20 @cite_23 @cite_17
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Multi-view structure from motion (SfM) estimates the position and orientation of pictures in a common 3D coordinate frame. When views are treated incrementally, this external calibration can be subject to drift, contrary to global methods that distribute residual errors evenly. We propose a new global calibration approach based on the fusion of relative motions between image pairs. We improve an existing method for robustly computing global rotations. We present an efficient a contrario trifocal tensor estimation method, from which stable and precise translation directions can be extracted. We also define an efficient translation registration method that recovers accurate camera positions. These components are combined into an original SfM pipeline. Our experiments show that, on most datasets, it outperforms in accuracy other existing incremental and global pipelines. It also achieves strikingly good running times: it is about 20 times faster than the other global method we could compare to, and as fast as the best incremental method. More importantly, it features better scalability properties. Multiview representations reveal the fundamental attributes of the studied instances from different perspectives. Some common perspectives are reviewed by multiple views simultaneously, while some specific ones are reflected by individual views. That is, there are two kinds of properties embedded in the multiview data: 1) consistency and 2) complementarity. Different from most multiview learning approaches only focusing on either consistency or complementarity, this paper proposes a novel semisupervised multiview learning algorithm, called partially shared latent factor (PSLF) learning, which jointly exploits both consistent and complementary information among multiple views. In PSLF, a nonnegative matrix factorization (NMF)-based formulation is adopted to learn a compact and comprehensive partially shared latent representation, which is composed of common latent factors shared by multiple views and some specific latent factors to each view. With the learned representations of multiview data, we introduce a robust sparse regression model to predict the cluster labels of labeled data. By integrating the NMF-based model and the regression model, we obtain a unified formulation and propose a multiplicative-based alternative algorithm for optimization. In addition, PSLF can learn the weights of different views adaptively according to the reconstruction precisions of data matrices. Our experimental study indicates different multiview data that contains consistent and complementary information in different degrees. In addition, the encouraging results of the proposed algorithm are achieved in comparison with the state-of-the-art algorithms on real-world data sets. We consider the problem of segmenting multiple rigid-body motions from point correspondences in multiple affine views. We cast this problem as a subspace clustering problem in which point trajectories associated with each motion live in a linear subspace of dimension two, three or four. Our algorithm involves projecting all point trajectories onto a 5-dimensional subspace using the SVD, the PowerFactorization method, or RANSAC, and fitting multiple linear subspaces representing different rigid-body motions to the points in ?5 using GPCA. Unlike previous work, our approach does not restrict the motion subspaces to be four-dimensional and independent. Instead, it deals gracefully with all the spectrum of possible affine motions: from two-dimensional and partially dependent to four-dimensional and fully independent. Our algorithm can handle the case of missing data, meaning that point tracks do not have to be visible in all images, by using the PowerFactorization method to project the data. In addition, our method can handle outlying trajectories by using RANSAC to perform the projection. We compare our approach to other methods on a database of 167 motion sequences with full motions, independent motions, degenerate motions, partially dependent motions, missing data, outliers, etc. On motion sequences with complete data our method achieves a misclassification error of less that 5 for two motions and 29 for three motions. Prior work on multi-view structure from motion is dominated by sequential approaches starting from a single two-view reconstruction, then adding new images one by one. In contrast, we propose a non-sequential methodology based on rotational consistency and robust estimation using convex optimization. The resulting system is more robust with respect to (i) unreliable two-view estimations caused by short baselines, (ii) repetitive scenes with locally consistent structures that are not consistent with the global geometry and (iii) loop closing as errors are not propagated in a sequential manner. Both theoretical justifications and experimental comparisons are given to support these claims.1 In this paper, we explore the problem of multiview subspace clustering. We introduce a low-rank tensor constraint to explore the complementary information from multiple views and, accordingly, establish a novel method called Low-rank Tensor constrained Multiview Subspace Clustering (LT-MSC). Our method regards the subspace representation matrices of different views as a tensor, which captures dexterously the high order correlations underlying multiview data. Then the tensor is equipped with a low-rank constraint, which models elegantly the cross information among different views, reduces effectually the redundancy of the learned subspace representations, and improves the accuracy of clustering as well. The inference process of the affinity matrix for clustering is formulated as a tensor nuclear norm minimization problem, constrained with an additional L2,1-norm regularizer and some linear equalities. The minimization problem is convex and thus can be solved efficiently by an Augmented Lagrangian Alternating Direction Minimization (AL-ADM) method. Extensive experimental results on four benchmark datasets show the effectiveness of our proposed LT-MSC method. Current high-quality object detection approaches use the scheme of salience-based object proposal methods followed by post-classification using deep convolutional features. This spurred recent research in improving object proposal methods. However, domain agnostic proposal generation has the principal drawback that the proposals come unranked or with very weak ranking, making it hard to trade-off quality for running time. This raises the more fundamental question of whether high-quality proposal generation requires careful engineering or can be derived just from data alone. We demonstrate that learning-based proposal methods can effectively match the performance of hand-engineered methods while allowing for very efficient runtime-quality trade-offs. Using the multi-scale convolutional MultiBox (MSC-MultiBox) approach, we substantially advance the state-of-the-art on the ILSVRC 2014 detection challenge data set, with @math mAP for a single model and @math mAP for an ensemble of two models. MSC-Multibox significantly improves the proposal quality over its predecessor MultiBox method: AP increases from @math to @math for the ILSVRC detection challenge. Finally, we demonstrate improved bounding-box recall compared to Multiscale Combinatorial Grouping with less proposals on the Microsoft-COCO data set. We propose a novel algorithm to register multiple 3D point sets within a common reference frame using a manifold optimization approach. The point sets are obtained with multiple laser scanners or a mobile scanner. Unlike most prior algorithms, our approach performs an explicit optimization on the manifold of rotations, allowing us to formulate the registration problem as an unconstrained minimization on a constrained manifold. This approach exploits the Lie group structure of SO 3 and the simple representation of its associated Lie algebra so 3 in terms of R3. Our contributions are threefold. We present a new analytic method based on singular value decompositions that yields a closed-form solution for simultaneous multiview registration in the noise-free scenario. Secondly, we use this method to derive a good initial estimate of a solution in the noise-free case. This initialization step may be of use in any general iterative scheme. Finally, we present an iterative scheme based on Newton's method on SO 3 that has locally quadratic convergence. We demonstrate the efficacy of our scheme on scan data taken both from the Digital Michelangelo project and from scans extracted from models, and compare it to some of the other well known schemes for multiview registration. In all cases, our algorithm converges much faster than the other approaches, (in some cases orders of magnitude faster), and generates consistently higher quality registrations. We propose a hierarchical approach to multi-action recognition that performs joint classification and segmentation. Ai¾źgiven video containing several consecutive actions is processed via a sequence of overlapping temporal windows. Each frame in a temporal window is represented through selective low-level spatio-temporal features which efficiently capture relevant local dynamics. Features from each window are represented as a Fisher vector, which captures first and second order statistics. Instead of directly classifying each Fisher vector, it is converted into a vector of class probabilities. The final classification decision for each frame is then obtained by integrating the class probabilities at the frame level, which exploits the overlapping of the temporal windows. Experiments were performed on two datasets: s-KTH ai¾źstitched version of the KTH dataset to simulate multi-actions, and the challenging CMU-MMAC dataset. On s-KTH, the proposed approach achieves an accuracy of 85.0i¾ź , significantly outperforming two recent approaches based on GMMs and HMMs which obtained 78.3i¾ź and 71.2i¾ź , respectively. On CMU-MMAC, the proposed approach achieves an accuracy of 40.9i¾ź , outperforming the GMM and HMM approaches which obtained 33.7i¾ź and 38.4i¾ź , respectively. Furthermore, the proposed system is on average 40 times faster than the GMM based approach. There has been a paradigm shifting trend towards feature-less methods due to their elegant formulation, accuracy and ever increasing computational power. In this work, we present a direct edge alignment approach for 6-DOF tracking. We argue that photo-consistency based methods are plagued by a much smaller convergence basin and are extremely sensitive to noise, changing illumination and fast motion. We propose to use the Distance Transform in the energy formulation which can significantly extend the influence of the edges for tracking. We address the problem of non-differentiability of our cost function and of the previous methods by use of a sub-gradient method. Through extensive experiments we show that the proposed method gives comparable performance to the previous method under nominal conditions and is able to run at 30 Hz in single threaded mode. In addition, under large motion we demonstrate our method outperforms previous methods using the same runtime configuration for our method. Motion errors are inevitably introduced when data is acquired and considerably degrade the image quality in terms of geometric resolution, radiometric accuracy and image contrast, especially in high-resolution spotlight synthetic aperture radar (SAR) imagery. In this study, the authors present a novel two-dimensional (2D) autofocus algorithm directly inserted into polar format algorithm, which compensates the envelop error and the phase error sequentially. A coarse error correction is first performed by global positioning system or inertial navigation system in the range-compressed domain, then a new envelop compensation strategy, stage-by-stage approach, is designed, obtaining promising results for removing range cell migration after 2D interpolation. Additionally, a weighed contrast enhancement autofocus algorithm based on spatially variant model is developed to compensate for the residual phase error, which remarkably improves the estimation accuracy. The presented algorithm is very robust to deal with substantial errors over a variety of scenes even in conditions of homogenous areas with no prominent point scatterers and enables the utilisation of fast Fourier transform. The experimental results obtained by the proposed algorithm confirm that the analysis extends well to realistic situations. Learning and then recognizing a route, whether travelled during the day or at night, in clear or inclement weather, and in summer or winter is a challenging task for state of the art algorithms in computer vision and robotics. In this paper, we present a new approach to visual navigation under changing conditions dubbed SeqSLAM. Instead of calculating the single location most likely given a current image, our approach calculates the best candidate matching location within every local navigation sequence. Localization is then achieved by recognizing coherent sequences of these “local best matches”. This approach removes the need for global matching performance by the vision front-end - instead it must only pick the best match within any short sequence of images. The approach is applicable over environment changes that render traditional feature-based techniques ineffective. Using two car-mounted camera datasets we demonstrate the effectiveness of the algorithm and compare it to one of the most successful feature-based SLAM algorithms, FAB-MAP. The perceptual change in the datasets is extreme; repeated traverses through environments during the day and then in the middle of the night, at times separated by months or years and in opposite seasons, and in clear weather and extremely heavy rain. While the feature-based method fails, the sequence-based algorithm is able to match trajectory segments at 100 precision with recall rates of up to 60 . The problem of simultaneous structure from motion estimation for multiple independently moving objects from a monocular image sequence is addressed. Two Bayesian algorithms are presented for solving this problem using the sequential importance sampling (SIS) technique. The empirical posterior distribution of object motion and feature separation parameters is approximated by weighted samples. The first algorithm addresses the problem when only two moving objects are present. A singular value decomposition (SVD)-based sample clustering algorithm is shown to be capable of separating samples related to different objects. A pair of SIS procedures is used to track the posterior distribution of the motion parameters. In the second algorithm, a balancing step is added into the SIS procedure to preserve samples of low weights so that all objects have enough samples to propagate empirical motion distributions. By using the proposed algorithms, the relative motions of all the moving objects with respect to the camera can be simultaneously estimated. Both algorithms have been tested on synthetic and real- image sequences. Improved results have been achieved. In this paper, we address the multi-view subspace clustering problem. Our method utilizes the circulant algebra for tensor, which is constructed by stacking the subspace representation matrices of different views and then rotating, to capture the low rank tensor subspace so that the refinement of the view-specific subspaces can be achieved, as well as the high order correlations underlying multi-view data can be explored. By introducing a recently proposed tensor factorization, namely tensor-Singular Value Decomposition (t-SVD) kilmer13 , we can impose a new type of low-rank tensor constraint on the rotated tensor to capture the complementary information from multiple views. Different from traditional unfolding based tensor norm, this low-rank tensor constraint has optimality properties similar to that of matrix rank derived from SVD, so the complementary information among views can be explored more efficiently and thoroughly. The established model, called t-SVD based Multi-view Subspace Clustering (t-SVD-MSC), falls into the applicable scope of augmented Lagrangian method, and its minimization problem can be efficiently solved with theoretical convergence guarantee and relatively low computational complexity. Extensive experimental testing on eight challenging image dataset shows that the proposed method has achieved highly competent objective performance compared to several state-of-the-art multi-view clustering methods. Motion estimation and compensation in wavelet domain have received much attention recently. To overcome the inefficiency of motion estimation in critically sampled wavelet domain, the low-band-shift (LBS) method and the complete-to-overcomplete discrete wavelet transform (CODWT) method are proposed for motion estimation in shift-invariant wavelet domain. However, a major disadvantage of these methods is the computational complexity. Although the CODWT method has reduced the computational complexity by skipping the inverse wavelet transform and making the direct link between the critically sampled subbands and the shift-invariant subbands, the full search algorithm (FSA) increases it. In this paper, we proposed two fast multiresolution motion estimation algorithms in shift-invariant wavelet domain: one is the wavelet matching error characteristic based partial distortion search (WMEC-PDS) algorithm, which improves computational efficiency of conventional partial distortion search algorithms while keeping the same estimate accuracy as the FSA; another is the anisotropic double cross search (ADCS) algorithm using multiresolution-spatio-temporal context, which provides a significantly computational load reduction while only introducing negligible distortion compared with the FSA. Due to the multiresolution nature, both the proposed approaches can be applied to wavelet-based scalable video coding. Experimental results show the superiority of the proposed fast motion estimation algorithms against other fast algorithms in terms of speed-up and quality. We present a viewpoint-based approach for the quick fusion of multiple stereo depth maps. Our method selects depth estimates for each pixel that minimize violations of visibility constraints and thus remove errors and inconsistencies from the depth maps to produce a consistent surface. We advocate a two-stage process in which the first stage generates potentially noisy, overlapping depth maps from a set of calibrated images and the second stage fuses these depth maps to obtain an integrated surface with higher accuracy, suppressed noise, and reduced redundancy. We show that by dividing the processing into two stages we are able to achieve a very high throughput because we are able to use a computationally cheap stereo algorithm and because this architecture is amenable to hardware-accelerated (GPU) implementations. A rigorous formulation based on the notion of stability of a depth estimate is presented first. It aims to determine the validity of a depth estimate by rendering multiple depth maps into the reference view as well as rendering the reference depth map into the other views in order to detect occlusions and free- space violations. We also present an approximate alternative formulation that selects and validates only one hypothesis based on confidence. Both formulations enable us to perform video-based reconstruction at up to 25 frames per second. We show results on the multi-view stereo evaluation benchmark datasets and several outdoors video sequences. Extensive quantitative analysis is performed using an accurately surveyed model of a real building as ground truth. We present a new structure from motion (Sfm) technique based on point and vanishing point (VP) matches in images. First, all global camera rotations are computed from VP matches as well as relative rotation estimates obtained from pairwise image matches. A new multi-staged linear technique is then used to estimate all camera translations and 3D points simultaneously. The proposed method involves first performing pairwise reconstructions, then robustly aligning these in pairs, and finally aligning all of them globally by simultaneously estimating their unknown relative scales and translations. In doing so, measurements inconsistent in three views are efficiently removed. Unlike sequential Sfm, the proposed method treats all images equally, is easy to parallelize and does not require intermediate bundle adjustments. There is also a reduction of drift and significant speedups up to two order of magnitude over sequential Sfm. We compare our method with a standard Sfm pipeline [1] and demonstrate that our linear estimates are accurate on a variety of datasets, and can serve as good initializations for final bundle adjustment. Because we exploit VPs when available, our approach is particularly well-suited to the reconstruction of man-made scenes. Multi-view clustering, which seeks a partition of the data in multiple views that often provide complementary information to each other, has received considerable attention in recent years. In real life clustering problems, the data in each view may have considerable noise. However, existing clustering methods blindly combine the information from multi-view data with possibly considerable noise, which often degrades their performance. In this paper, we propose a novel Markov chain method for Robust Multi-view Spectral Clustering (RMSC). Our method has a flavor of lowrank and sparse decomposition, where we firstly construct a transition probability matrix from each single view, and then use these matrices to recover a shared low-rank transition probability matrix as a crucial input to the standard Markov chain method for clustering. The optimization problem of RMSC has a low-rank constraint on the transition probability matrix, and simultaneously a probabilistic simplex constraint on each of its rows. To solve this challenging optimization problem, we propose an optimization procedure based on the Augmented Lagrangian Multiplier scheme. Experimental results on various real world datasets show that the proposed method has superior performance over several state-of-the-art methods for multi-view clustering. Multi-view data is very popular in real-world applications, as different view-points and various types of sensors help to better represent data when fused across views or modalities. Samples from different views of the same class are less similar than those with the same view but different class. We consider a more general case that prior view information of testing data is inaccessible in multi-view learning. Traditional multi-view learning algorithms were designed to obtain multiple view-specific linear projections and would fail without this prior information available. That was because they assumed the probe and gallery views were known in advance, so the correct view-specific projections were to be applied in order to better learn low-dimensional features. To address this, we propose a Low-Rank Common Subspace (LRCS) for multi-view data analysis, which seeks a common low-rank linear projection to mitigate the semantic gap among different views. The low-rank common projection is able to capture compatible intrinsic information across different views and also well-align the within-class samples from different views. Furthermore, with a low-rank constraint on the view-specific projected data and that transformed by the common subspace, the within-class samples from multiple views would concentrate together. Different from the traditional supervised multi-view algorithms, our LRCS works in a weakly supervised way, where only the view information gets observed. Such a common projection can make our model more flexible when dealing with the problem of lacking prior view information of testing data. Two scenarios of experiments, robust subspace learning and transfer learning, are conducted to evaluate our algorithm. Experimental results on several multi-view datasets reveal that our proposed method outperforms state-of-the-art, even when compared with some supervised learning methods. We present an approach to accelerating a wide variety of image processing operators. Our approach uses a fully-convolutional network that is trained on input-output pairs that demonstrate the operator's action. After training, the original operator need not be run at all. The trained network operates at full resolution and runs in constant time. We investigate the effect of network architecture on approximation accuracy, runtime, and memory footprint, and identify a specific architecture that balances these considerations. We evaluate the presented approach on ten advanced image processing operators, including multiple variational models, multiscale tone and detail manipulation, photographic style transfer, nonlocal dehazing, and nonphotorealistic stylization. All operators are approximated by the same model. Experiments demonstrate that the presented approach is significantly more accurate than prior approximation schemes. It increases approximation accuracy as measured by PSNR across the evaluated operators by 8.5 dB on the MIT-Adobe dataset (from 27.5 to 36 dB) and reduces DSSIM by a multiplicative factor of 3 compared to the most accurate prior approximation scheme, while being the fastest. We show that our models generalize across datasets and across resolutions, and investigate a number of extensions of the presented approach. The results are shown in the supplementary video at this https URL We propose a novel algorithm for segmenting multiple motions of different types from point correspondences in multiple affine or perspective views. Since point trajectories associated with different motions live in different manifolds, traditional approaches deal with only one manifold type: linear subspaces for affine views, and homographic, bilinear and trilinear varieties for two and three perspective views. As real motion sequences contain motions of different types, we cast motion segmentation as a problem of clustering manifolds of different types. Rather than explicitly modeling each manifold as a linear, bilinear or multilinear variety, we use nonlinear dimensionality reduction to learn a low-dimensional representation of the union of all manifolds. We show that for a union of separated manifolds, the LLE algorithm computes a matrix whose null space contains vectors giving the segmentation of the data. An analysis of the variance of these vectors allows us to distinguish them from other vectors in the null space. This leads to a new algorithm for clustering both linear and nonlinear manifolds. Although this algorithm is theoretically designed for separated manifolds, our experiments demonstrate its performance on real data where this assumption does not hold. We test our algorithm on the Hopkins 155 motion segmentation database and achieve an average classification error of 4.8 , which compares favorably against state-of-the art multiframe motion segmentation methods.