When determining the parameters of a parametric planar shape based on a single low-resolution image, common estimation paradigms lead to inaccurate parameter estimates. The reason behind poor estimation results is that standard estimation frameworks fail to model the image formation process at a sufficiently detailed level of analysis. We propose a new method for estimating the parameters of a planar elliptic shape based on a single photon-limited, low-resolution image. Our technique incorporates the effects of several elements—point-spread function, discretization step, quantization step, and photon noise—into a single cohesive and manageable statistical model. While we concentrate on the particular task of estimating the parameters of elliptic shapes, our ideas and methods have a much broader scope and can be used to address the problem of estimating the parameters of an arbitrary parametrically representable planar shape. Comprehensive experimental results on simulated and real imagery demonstrate that our approach yields parameter estimates with unprecedented accuracy. Furthermore, our method supplies a parameter covariance matrix as a measure of uncertainty for the estimated parameters, as well as a planar confidence region as a means for visualizing parameter uncertainty. The mathematical model developed in this paper may prove useful in a variety of disciplines that operate with imagery at the limits of resolution.
The majority of ellipse estimation methods fit a curve to a planar set of points. One distinguishes between point-based ellipse fitting methods by considering the nature of the cost function that the algorithms minimise. Methods which explicitly decrease the distance between the points and the ellipse curve are considered geometric methods. The quintessential geometric method is orthogonal distance regression, which minimises the orthogonal distance from a point to the curve @cite_10 @cite_13 @cite_25 @cite_18 @cite_11 @cite_30 @cite_17 . Algebraic methods, on the other hand, try to ensure that the data points satisfy an ellipse implicit equation as accurately as possible. One differentiates between algebraic methods by considering how they penalise the degree to which a data point fails to satisfy an implicit equation @cite_29 @cite_21 @cite_26 @cite_16 . Algebraic methods, in particular, have been the focus of considerable study, and recent works have concentrated on improving their statistical efficacy and accuracy @cite_12 @cite_14 @cite_1 @cite_22 .
@cite_30 @cite_18 @cite_26 @cite_14 @cite_22 @cite_10 @cite_29 @cite_21 @cite_1 @cite_17 @cite_16 @cite_13 @cite_25 @cite_12 @cite_11
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In this paper, we propose an efficient algorithm, called vector field consensus, for establishing robust point correspondences between two sets of points. Our algorithm starts by creating a set of putative correspondences which can contain a very large number of false correspondences, or outliers, in addition to a limited number of true correspondences (inliers). Next, we solve for correspondence by interpolating a vector field between the two point sets, which involves estimating a consensus of inlier points whose matching follows a nonparametric geometrical constraint. We formulate this a maximum a posteriori (MAP) estimation of a Bayesian model with hidden latent variables indicating whether matches in the putative set are outliers or inliers. We impose nonparametric geometrical constraints on the correspondence, as a prior distribution, using Tikhonov regularizers in a reproducing kernel Hilbert space. MAP estimation is performed by the EM algorithm which by also estimating the variance of the prior model (initialized to a large value) is able to obtain good estimates very quickly (e.g., avoiding many of the local minima inherent in this formulation). We illustrate this method on data sets in 2D and 3D and demonstrate that it is robust to a very large number of outliers (even up to 90 ). We also show that in the special case where there is an underlying parametric geometrical model (e.g., the epipolar line constraint) that we obtain better results than standard alternatives like RANSAC if a large number of outliers are present. This suggests a two-stage strategy, where we use our nonparametric model to reduce the size of the putative set and then apply a parametric variant of our approach to estimate the geometric parameters. Our algorithm is computationally efficient and we provide code for others to use it. In addition, our approach is general and can be applied to other problems, such as learning with a badly corrupted training data set. The problem of accurate parameter estimation of elliptical shapes is addressed. Three methods based on elliptical Fourier descriptors, area moments, and perimeter moments of 2-D elliptical shapes are presented. The mathematics of these methods is discussed and, for area moments, a set of new formulas based on Gauss's theorem is given. To implement a comparative performance study, a method developed by R. Safaee- (1990), the weighted minimum-square-error (MSE) function, is included, and an objective and independent measure of goodness of fit is used. The performance of these methods is compared for two different cases, that of a perfect simulated ellipse and an imperfect imaged ellipse. > We introduce a framework for computing statistically optimal estimates of geometric reconstruction problems. While traditional algorithms often suffer from either local minima or non-optimality--or a combination of both--we pursue the goal of achieving global solutions of the statistically optimal cost-function. Our approach is based on a hierarchy of convex relaxations to solve non-convex optimization problems with polynomials. These convex relaxations generate a monotone sequence of lower bounds and we show how one can detect whether the global optimum is attained at a given relaxation. The technique is applied to a number of classical vision problems: triangulation, camera pose, homography estimation and last, but not least, epipolar geometry estimation. Experimental validation on both synthetic and real data is provided. In practice, only a few relaxations are needed for attaining the global optimum. After summarising the conceptual relationship between some old and new techniques for fitting ellipses to data, we conduct a thorough experimental comparison of the discussed methods. The newer techniques promise consistency, unbiasedness, or hyper-accuracy, but our experiments reveal that in practice the performance of these estimators is difficult to distinguish from the performance of established estimators. Since the newer techniques could potentially be extended to other estimation problems, we discuss what implications our experimental findings have for solving more general multiple-view geometry estimation problems. This paper presents a hierarchical approach for fast and robust ellipse extraction from images. At the lowest level, the image is described as a set of edge pixels, from which line segments are extracted. Then, line segments that are potential candidates of elliptic arcs are linked to form arc segments according to connectivity and curvature relations. After that, arc segments that belong to the same ellipse are grouped together. Finally, a robust statistical method, namely RANSAC, is applied to fit ellipses. This method does not need a high dimensional parameter space like Hough transform based algorithms, and so it reduces the computation and memory requirements. Experiments on both synthetic and real images demonstrate that the proposed method has excellent performance in handling occlusion and overlapping ellipses. Determining the rigid transformation relating 2D images to known 3D geometry is a classical problem in photogrammetry and computer vision. Heretofore, the best methods for solving the problem have relied on iterative optimization methods which cannot be proven to converge and or which do not effectively account for the orthonormal structure of rotation matrices. We show that the pose estimation problem can be formulated as that of minimizing an error metric based on collinearity in object (as opposed to image) space. Using object space collinearity error, we derive an iterative algorithm which directly computes orthogonal rotation matrices and which is globally convergent. Experimentally, we show that the method is computationally efficient, that it is no less accurate than the best currently employed optimization methods, and that it outperforms all tested methods in robustness to outliers. Regression-based models built on local gradient-based feature descriptors have showed to be successful for continuous pose estimation of object categories. Nonetheless, a crucial weakness of these methods is that no geometric information is taken into account. Therefore, geometrically inconsistent poses may be preferred, and this forces to employ a coarse-grained pose estimator as a pre-processing step to avoid potentially large estimation errors. In this paper, we propose a method that combines generative feature models and graph matching techniques in a unified probabilistic formulation of the continuous pose estimation problem. Our approach retains the lightness and generality of generative feature modeling, while favoring geometrically consistent results. Experiments show that pose pre-processing steps are not needed if geometry is embedded in the matching stage. We evaluated our approach on two different car datasets and we experimentally show that our algorithm outperforms state-of-the-art methods by 25 . We present a method for reconstruction of structured scenes from one or more views, in which the user provides image points and geometric knowledge -coplanarity, ratios of distances, angles- about the corresponding 3D points. First, the geometric information is analyzed. Then vanishing points are estimated, from which camera calibration is obtained. Finally, an algebraic method gives the reconstruction. Our algebraic reconstruction method improves the present state-of-the-art in many aspects : geometric knowledge includes not only planarity and alignment information, but also known ratios of lengths. The single and multipleview cases are treated in the same way and the method detects whether the input data is sufficient to define a rigid reconstruction. We benchmark, using synthetic data, the various steps of the estimation process and show reconstructions obtained from real-world situations in which other methods would fail. We also present a new method for maximum likelihood estimation of vanishing points. The numerical approximation of parametric partial differential equations D(u,y)=0 is a computational challenge when the dimension d of the parameter vector y is large, due to the so-called curse of dimensionality. It was recently shown in [1,2] that, for a certain class of elliptic PDEs with diffusion coefficients depending on the parameters in an affine manner, there exist polynomial approximations to the solution map y↦u(y) with an algebraic convergence rate that is independent of the parametric dimension d. The analysis in [1,2] used, however, the affine parameter dependence of the operator. The present paper proposes a strategy for establishing similar results for classes of parametric PDEs that do not necessarily fall in this category. Our approach is based on building an analytic extension z↦u(z) of the solution map on certain tensor product of ellipses in the complex domain, and using this extension to estimate the Legendre coefficients of u. The varying semi-axes lengths of the ellipses in each coordinate zj reflect the anisotropy of the solution map with respect to the corresponding parametric variables yj. This allows us to derive algebraic convergence rates for tensorized Legendre expansions in the case d=∞. We also show that such rates are preserved when using certain interpolation procedures, which is an instance of a non-intrusive method. As examples of parametric PDEs that are covered by this approach, we consider (i) elliptic diffusion equations with coefficients that depend on the parameter vector y in a not necessarily affine manner, (ii) parabolic diffusion equations with similar dependence of the coefficient on y, (iii) nonlinear, monotone parametric elliptic PDEs, and (iv) elliptic equations set on a domain that is parametrized by the vector y. We give general strategies that allow us to derive the analytic extension in a unified abstract way for all these examples, in particular based on the holomorphic version of the implicit function theorem in Banach spaces. We expect that this approach can be applied to a large variety of parametric PDEs, showing that the curse of dimensionality can be overcome under mild assumptions. Much recent effort has sought asymptotically minimax methods for recovering infinite dimensional objects-curves, densities, spectral densities, images-from noisy data. A now rich and complex body of work develops nearly or exactly minimax estimators for an array of interesting problems. Unfortunately, the results have rarely moved into practice, for a variety of reasons-among them being similarity to known methods, computational intractability and lack of spatial adaptivity. We discuss a method for curve estimation based on n noisy data: translate the empirical wavelet coefficients towards the origin by an amount √(2 log n) √n. The proposal differs from those in current use, is computationally practical and is spatially adaptive; it thus avoids several of the previous objections. Further, the method is nearly minimax both for a wide variety of loss functions-pointwise error, global error measured in L p -norms, pointwise and global error in estimation of derivatives-and for a wide range of smoothness classes, including standard Holder and Sobolev classes, and bounded variation. This is a much broader near optimality than anything previously proposed: we draw loose parallels with near optimality in robustness and also with the broad near eigenfunction properties of wavelets themselves. Finally, the theory underlying the method is interesting, as it exploits a correspondence between statistical questions and questions of optimal recovery and information-based complexity A heuristic method has been developed for registering two sets of 3-D curves obtained by using an edge-based stereo system, or two dense 3-D maps obtained by using a correlation-based stereo system. Geometric matching in general is a difficult unsolved problem in computer vision. Fortunately, in many practical applications, some a priori knowledge exists which considerably simplifies the problem. In visual navigation, for example, the motion between successive positions is usually approximately known. From this initial estimate, our algorithm computes observer motion with very good precision, which is required for environment modeling (e.g., building a Digital Elevation Map). Objects are represented by a set of 3-D points, which are considered as the samples of a surface. No constraint is imposed on the form of the objects. The proposed algorithm is based on iteratively matching points in one set to the closest points in the other. A statistical method based on the distance distribution is used to deal with outliers, occlusion, appearance and disappearance, which allows us to do subset-subset matching. A least-squares technique is used to estimate 3-D motion from the point correspondences, which reduces the average distance between points in the two sets. Both synthetic and real data have been used to test the algorithm, and the results show that it is efficient and robust, and yields an accurate motion estimate. Motivated by the numerical treatment of parametric and stochastic PDEs, we analyze the least-squares method for polynomial approximation of multivariate functions based on random sampling according to a given probability measure. Recent work has shown that in the univariate case, the least-squares method is quasi-optimal in expectation in [A. Cohen, M A. Davenport and D. Leviatan. Found. Comput. Math. 13 (2013) 819–834] and in probability in [G. Migliorati, F. Nobile, E. von Schwerin, R. Tempone, Found. Comput. Math. 14 (2014) 419–456], under suitable conditions that relate the number of samples with respect to the dimension of the polynomial space. Here “quasi-optimal” means that the accuracy of the least-squares approximation is comparable with that of the best approximation in the given polynomial space. In this paper, we discuss the quasi-optimality of the polynomial least-squares method in arbitrary dimension. Our analysis applies to any arbitrary multivariate polynomial space (including tensor product, total degree or hyperbolic crosses), under the minimal requirement that its associated index set is downward closed. The optimality criterion only involves the relation between the number of samples and the dimension of the polynomial space, independently of the anisotropic shape and of the number of variables. We extend our results to the approximation of Hilbert space-valued functions in order to apply them to the approximation of parametric and stochastic elliptic PDEs. As a particular case, we discuss “inclusion type” elliptic PDE models, and derive an exponential convergence estimate for the least-squares method. Numerical results confirm our estimate, yet pointing out a gap between the condition necessary to achieve optimality in the theory, and the condition that in practice yields the optimal convergence rate. We consider the problem of approximating a set P of η points in Rd by a j-dimensional subspace under the lp measure, in which we wish to minimize the sum of lp distances from each point of P to this subspace. More generally, the Fq (lp)-subspace approximation problem asks for a j-subspace that minimizes the sum of qth powers of lp-distances to this subspace, up to a multiplicative factor of (1 + e). We develop techniques for subspace approximation, regression, and matrix approximation that can be used to deal with massive data sets in high dimensional spaces. In particular, we develop coresets and sketches, i.e. small space representations that approximate the input point set P with respect to the subspace approximation problem. Our results are: • A dimensionality reduction method that can be applied to Fq (lp)-clustering and shape fitting problems, such as those in [8, 15]. • The first strong coreset for F1 (l2)-subspace approximation in high-dimensional spaces, i.e. of size polynomial in the dimension of the space. This coreset approximates the distances to any j-subspace (not just the optimal one). • A (1 + e)-approximation algorithm for the j-dimensional F1 (l2)-subspace approximation problem with running time ηd(j e)O(1) + (η + d)2poly(j e). • A streaming algorithm that maintains a coreset for the F1 (l2)-subspace approximation problem and uses a space of d [EQUATION] (weighted) points. • Streaming algorithms for the above problems with bounded precision in the turnstile model, i.e, when coordinates appear in an arbitrary order and undergo multiple updates. We show that bounded precision can lead to further improvements. We extend results of [7] for approximate linear regression, distances to subspace approximation, and optimal rank-j approximation, to error measures other than the Frobenius norm. The authors describe a general-purpose, representation-independent method for the accurate and computationally efficient registration of 3-D shapes including free-form curves and surfaces. The method handles the full six degrees of freedom and is based on the iterative closest point (ICP) algorithm, which requires only a procedure to find the closest point on a geometric entity to a given point. The ICP algorithm always converges monotonically to the nearest local minimum of a mean-square distance metric, and the rate of convergence is rapid during the first few iterations. Therefore, given an adequate set of initial rotations and translations for a particular class of objects with a certain level of 'shape complexity', one can globally minimize the mean-square distance metric over all six degrees of freedom by testing each initial registration. One important application of this method is to register sensed data from unfixtured rigid objects with an ideal geometric model, prior to shape inspection. Experimental results show the capabilities of the registration algorithm on point sets, curves, and surfaces. > One of the primary goals of computational anatomy is the statistical analysis of anatomical variability in large populations of images. The study of anatomical shape is inherently related to the construction of transformations of the underlying coordinate space, which map one anatomy to another. It is now well established that representing the geometry of shapes or images in Euclidian spaces undermines our ability to represent natural variability in populations. In our previous work we have extended classical statistical analysis techniques, such as averaging, principal components analysis, and regression, to Riemannian manifolds, which are more appropriate representations for describing anatomical variability. In this paper we extend the notion of robust estimation, a well established and powerful tool in traditional statistical analysis of Euclidian data, to manifold-valued representations of anatomical variability. In particular, we extend the geometric median, a classic robust estimator of centrality for data in Euclidean spaces. We formulate the geometric median of data on a Riemannian manifold as the minimizer of the sum of geodesic distances to the data points. We prove existence and uniqueness of the geometric median on manifolds with non-positive sectional curvature and give sufficient conditions for uniqueness on positively curved manifolds. Generalizing the Weiszfeld procedure for finding the geometric median of Euclidean data, we present an algorithm for computing the geometric median on an arbitrary manifold. We show that this algorithm converges to the unique solution when it exists. In this paper we exemplify the robustness of the estimation technique by applying the procedure to various manifolds commonly used in the analysis of medical images. Using this approach, we also present a robust brain atlas estimation technique based on the geometric median in the space of deformable images.