Optimization techniques for geometric estimation: beyond minimization

Authors:
Kenichi Kanatani
Affiliations:
Department of Computer Science, Okayama University, Okayama, Japan
Venue:
SSPR'12/SPR'12 Proceedings of the 2012 Joint IAPR international conference on Structural, Syntactic, and Statistical Pattern Recognition
Year:
2012

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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.