Visual Tracking via Particle Filtering on the Affine Group
International Journal of Robotics Research
Affine iterative closest point algorithm for point set registration
Pattern Recognition Letters
An introduction to Lie group integrators - basics, new developments and applications
Journal of Computational Physics
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A widely used approach to image registration involves finding the general linear transformation that maximizes the mutual information between two images, with the transformation being rigid-body [i.e., belonging to SE(3)] or volume-preserving [i.e., belonging to SL(3)]. In this paper, we present coordinate-invariant, geometric versions of the Nelder-Mead optimization algorithm on the groups SL(3), SE(3), and their various subgroups, that are applicable to a wide class of image registration problems. Because the algorithms respect the geometric structure of the underlying groups, they are numerically more stable, and exhibit better convergence properties than existing local coordinate-based algorithms. Experimental results demonstrate the improved convergence properties of our geometric algorithms.