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Joint IAPR International Workshops on Statistical Techniques in Pattern Recognition (SPR) and Structural and Syntactic Pattern Recognition (SSPR)

SSPR /SPR 2012: Structural, Syntactic, and Statistical Pattern Recognition pp 11–30Cite as

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Optimization Techniques for Geometric Estimation: Beyond Minimization

Optimization Techniques for Geometric Estimation: Beyond Minimization

  • Kenichi Kanatani24 
  • Conference paper
  • 2462 Accesses

  • 1 Citations

Part of the Lecture Notes in Computer Science book series (LNIP,volume 7626)

Abstract

We overview techniques for optimal geometric estimation from noisy observations for computer vision applications. We first describe estimation techniques based on minimization of given cost functions: least squares (LS), maximum likelihood (ML), which includes reprojection error minimization (Gold Standard) as a special case, and Sampson error minimization. We then formulate estimation techniques not based on minimization of any cost function: iterative reweight, renormalization, and hyper-renormalization. Showing numerical examples, we conclude that hyper-renormalization is robust to noise and currently is the best method.

Keywords

  • Mahalanobis Distance
  • Generalize Eigenvalue Problem
  • Bundle Adjustment
  • Total Little Square
  • Geometric Estimation

These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Author information

Authors and Affiliations

  1. Department of Computer Science, Okayama University, Okayama, 700-8530, Japan

    Kenichi Kanatani

Authors
  1. Kenichi Kanatani
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Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Auckland, Private Bag 92019, 1142, Auckland, New Zealand

    Georgy Gimel’farb

  2. Department of Computer Science, University of York, Deramore Lane, YO10 5GH, York, UK

    Edwin Hancock

  3. Institute of Media and Information Technology, Chiba University, Yayoi-cho 1-33, 263-8522, Inage-ku, Chiba, Japan

    Atsushi Imiya

  4. Technische Universität/Fraunhofer IGD, Fraunhoferstraße 5, 64283, Darmstadt, Germany

    Arjan Kuijper

  5. Graduate School of Information Science and Technology, Hokkaido University, 060-0814, Sapporo, Japan

    Mineichi Kudo

  6. Graduate School of Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, 980-8579, Sendai, Miyagi, Japan

    Shinichiro Omachi

  7. Centre for Vision, Speech and Signal Processing, University of Surrey, GU2 7XH, Guildford, Surrey, UK

    Terry Windeatt

  8. C&C Innovation Research Laboratories, NEC Corporation, 8916-47 Takayama-cho, Ikoma-Shi, Nara, Japan

    Keiji Yamada

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Kanatani, K. (2012). Optimization Techniques for Geometric Estimation: Beyond Minimization. In: Gimel’farb, G., et al. Structural, Syntactic, and Statistical Pattern Recognition. SSPR /SPR 2012. Lecture Notes in Computer Science, vol 7626. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34166-3_2

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