The algebraic eigenvalue problem
The algebraic eigenvalue problem
Detecting partially occluded ellipses using the Hough transform
Image and Vision Computing - 4th Alvey Vision Meeting
Fitting ellipses and predicting confidence envelopes using a bias corrected Kalman filter
Image and Vision Computing - Special issue: 5th Alvey vision meeting
IEEE Transactions on Pattern Analysis and Machine Intelligence
Ellipse detection and matching with uncertainty
Image and Vision Computing - Special issue: BMVC 1991
A note on the least squares fitting of ellipses
Pattern Recognition Letters
A buyer's guide to conic fitting
BMVC '95 Proceedings of the 6th British conference on Machine vision (Vol. 2)
Shape Detection in Computer Vision Using the Hough Transform
Shape Detection in Computer Vision Using the Hough Transform
Computer and Robot Vision
Statistical Bias of Conic Fitting and Renormalization
IEEE Transactions on Pattern Analysis and Machine Intelligence
Nonparametric Segmentation of Curves into Various Representations
IEEE Transactions on Pattern Analysis and Machine Intelligence
Heteroscedastic Regression in Computer Vision: Problems with Bilinear Constraint
International Journal of Computer Vision - Special issue on a special section on visual surveillance
On the Fitting of Surfaces to Data with Covariances
IEEE Transactions on Pattern Analysis and Machine Intelligence
Rationalising the Renormalisation Method of Kanatani
Journal of Mathematical Imaging and Vision
A survey of methods for recovering quadrics in triangle meshes
ACM Computing Surveys (CSUR)
A Deformable Template Model, with Special Reference to Elliptical Templates
Journal of Mathematical Imaging and Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Pattern Recognition Letters
Single Axis Geometry by Fitting Conics
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
ECSQARU '01 Proceedings of the 6th European Conference on Symbolic and Quantitative Approaches to Reasoning with Uncertainty
Spherical Object Reconstruction Using Star-Shaped Simplex Meshes
EMMCVPR '01 Proceedings of the Third International Workshop on Energy Minimization Methods in Computer Vision and Pattern Recognition
Evaluation of global image thresholding for change detection
Pattern Recognition Letters
Articulated Soft Objects for Multiview Shape and Motion Capture
IEEE Transactions on Pattern Analysis and Machine Intelligence
Measuring shape: ellipticity, rectangularity, and triangularity
Machine Vision and Applications
Computation and performance issues In coliseum: an immersive videoconferencing system
MULTIMEDIA '03 Proceedings of the eleventh ACM international conference on Multimedia
From FNS to HEIV: A Link between Two Vision Parameter Estimation Methods
IEEE Transactions on Pattern Analysis and Machine Intelligence
Using symmetry in robust model fitting
Pattern Recognition Letters
Robust sketched symbol fragmentation using templates
Proceedings of the 9th international conference on Intelligent user interfaces
Concatenate feature extraction for robust 3D elliptic object localization
Proceedings of the 2004 ACM symposium on Applied computing
Invariant Fitting of Two View Geometry
IEEE Transactions on Pattern Analysis and Machine Intelligence
Z-Tiles: building blocks for modular, pressure-sensing floorspaces
CHI '04 Extended Abstracts on Human Factors in Computing Systems
Estimation of Average Cell Shape from Digital Images of Cellular Surfaces
CRV '04 Proceedings of the 1st Canadian Conference on Computer and Robot Vision
Least-squares fitting for deformable superquadric model based on orthogonal distance
Pattern Recognition Letters
Catadioptric Camera Calibration Using Geometric Invariants
IEEE Transactions on Pattern Analysis and Machine Intelligence
Sketch recognition with continuous feedback based on incremental intention extraction
Proceedings of the 10th international conference on Intelligent user interfaces
IEEE Transactions on Pattern Analysis and Machine Intelligence
FNS, CFNS and HEIV: A Unifying Approach
Journal of Mathematical Imaging and Vision
Eye gaze tracking techniques for interactive applications
Computer Vision and Image Understanding - Special issue on eye detection and tracking
A novel non-intrusive eye gaze estimation using cross-ratio under large head motion
Computer Vision and Image Understanding - Special issue on eye detection and tracking
A non-contact device for tracking gaze in a human computer interface
Computer Vision and Image Understanding - Special issue on eye detection and tracking
Estimating the eye gaze from one eye
Computer Vision and Image Understanding - Special issue on eye detection and tracking
Computer Vision and Image Understanding
Online Segmentation of Freehand Stroke by Dynamic Programming
ICDAR '05 Proceedings of the Eighth International Conference on Document Analysis and Recognition
A machine-vision system to measure the parameters describing the performance of a Foucault pendulum
Machine Vision and Applications
Machine Vision and Applications
Salient feature extraction of industrial objects for an automated assembly system
Computers in Industry - Special issue: Machine vision
Fitting conics to paracatadioptric projections of lines
Computer Vision and Image Understanding
Multiscale Fusion of Visible and Thermal IR Images for Illumination-Invariant Face Recognition
International Journal of Computer Vision
Geometric Interpretations of the Relation between the Image of the Absolute Conic and Sphere Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Application of the Fisher-Rao Metric to Ellipse Detection
International Journal of Computer Vision
Segmentation of kidney from ultrasound B-mode images with texture-based classification
Computer Methods and Programs in Biomedicine
Efficient search and verification for function based classification from real range images
Computer Vision and Image Understanding
Arc-based evaluation and detection of ellipses
Pattern Recognition
Camera Calibration from Images of Spheres
IEEE Transactions on Pattern Analysis and Machine Intelligence
Image feature evaluation for contents-based image retrieval
VisHCI '06 Proceedings of the HCSNet workshop on Use of vision in human-computer interaction - Volume 56
Evaluating Harker and O'Leary's distance approximation for ellipse fitting
Pattern Recognition Letters
A system for understanding imaged infographics and its applications
Proceedings of the 2007 ACM symposium on Document engineering
Object based video retrieval with local region tracking
Image Communication
Robust, low-cost, non-intrusive sensing and recognition of seated postures
Proceedings of the 20th annual ACM symposium on User interface software and technology
Performance evaluation of iterative geometric fitting algorithms
Computational Statistics & Data Analysis
Journal of Mathematical Imaging and Vision
Direct type-specific conic fitting and eigenvalue bias correction
Image and Vision Computing
Limbus/pupil switching for wearable eye tracking under variable lighting conditions
Proceedings of the 2008 symposium on Eye tracking research & applications
DocMIR: An automatic document-based indexing system for meeting retrieval
Multimedia Tools and Applications
International Journal of Computer Vision
Journal on Image and Video Processing - Anthropocentric Video Analysis: Tools and Applications
Multi-camera indoor video processing for context awareness
Proceedings of the 3rd international conference on Mobile multimedia communications
A new algorithm for ellipse detection by curve segments
Pattern Recognition Letters
Relative Pose Estimation from Two Circles
Proceedings of the 30th DAGM symposium on Pattern Recognition
Automatic Segmentation of Unstained Living Cells in Bright-Field Microscope Images
MDA '08 Proceedings of the 3rd international conference on Advances in Mass Data Analysis of Images and Signals in Medicine, Biotechnology, Chemistry and Food Industry
Automated Optic Nerve Disc Parameterization
Informatica
Motion Recovery for Uncalibrated Turntable Sequences Using Silhouettes and a Single Point
ACIVS '08 Proceedings of the 10th International Conference on Advanced Concepts for Intelligent Vision Systems
Recovering Light Directions and Camera Poses from a Single Sphere
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
A Study on Human Gaze Estimation Using Screen Reflection
IDEAL '08 Proceedings of the 9th International Conference on Intelligent Data Engineering and Automated Learning
Real-Time Least-Square Fitting of Ellipses Applied to the RobotCub Platform
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Augmented Reality Using Projective Invariant Patterns
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Identification of Cell Nucleus Using a Mumford-Shah Ellipse Detector
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
Full Camera Calibration from a Single View of Planar Scene
ISVC '08 Proceedings of the 4th International Symposium on Advances in Visual Computing
International Journal of Computer Vision
New shape-based auroral oval segmentation driven by LLS-RHT
Pattern Recognition
Analysis and recognition of touching cell images based on morphological structures
Computers in Biology and Medicine
ISCGAV'08 Proceedings of the 8th conference on Signal processing, computational geometry and artificial vision
Self-calibrated visual servoing with respect to axial-symmetric 3D objects
Robotics and Autonomous Systems
Motion-pointing: target selection using elliptical motions
Proceedings of the SIGCHI Conference on Human Factors in Computing Systems
A New Framework for Constructing Accurate Affine Invariant Regions
IEICE - Transactions on Information and Systems
A Two-Stage Point Pattern Matching Algorithm Using Ellipse Fitting and Dual Hilbert Scans
IEICE - Transactions on Information and Systems
Robust Surface Fitting from Two Views using Restricted Correspondence
Journal of Mathematical Imaging and Vision
Detection of Overlapped Ellipses by Combining Region and Edge Data
MIRAGE '09 Proceedings of the 4th International Conference on Computer Vision/Computer Graphics CollaborationTechniques
Multiple ellipses detection in noisy environments: A hierarchical approach
Pattern Recognition
Splitting touching cells based on concave points and ellipse fitting
Pattern Recognition
Euclidean Distance Fit of Ellipses with a Genetic Algorithm
Proceedings of the 2007 EvoWorkshops 2007 on EvoCoMnet, EvoFIN, EvoIASP,EvoINTERACTION, EvoMUSART, EvoSTOC and EvoTransLog: Applications of Evolutionary Computing
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Proceedings of the 31st DAGM Symposium on Pattern Recognition
A Robust Iris Localization Model Based on Phase Congruency and Least Trimmed Squares Estimation
ICIAP '09 Proceedings of the 15th International Conference on Image Analysis and Processing
A unified framework for object retrieval and mining
IEEE Transactions on Circuits and Systems for Video Technology
Computer Vision and Image Understanding
Fitting conics to paracatadioptric projections of lines
Computer Vision and Image Understanding
Estimating the eye gaze from one eye
Computer Vision and Image Understanding - Special issue on eye detection and tracking
Eye gaze tracking techniques for interactive applications
Computer Vision and Image Understanding - Special issue on eye detection and tracking
A novel non-intrusive eye gaze estimation using cross-ratio under large head motion
Computer Vision and Image Understanding - Special issue on eye detection and tracking
Skewed rotational symmetry detection from a 2D line drawing of a 3D polyhedral object
Computer-Aided Design
Face active appearance modeling and speech acoustic information to recover articulation
IEEE Transactions on Audio, Speech, and Language Processing - Special issue on multimodal processing in speech-based interactions
Recognition and beautification of multi-stroke symbols in digital ink
Computers and Graphics
On the sensitivity analysis of camera calibration from images of spheres
Computer Vision and Image Understanding
Invariant texture classification for biomedical cell specimens via non-linear polar map filtering
Computer Vision and Image Understanding
Projective reconstruction of ellipses from multiple images
Pattern Recognition
Automated freehand sketch segmentation using radial basis functions
Computer-Aided Design
Global hand pose estimation by multiple camera ellipse tracking
Machine Vision and Applications
Precise ellipse estimation without contour point extraction
Machine Vision and Applications
Microscale modelling of fruit tissue using Voronoi tessellations
Computers and Electronics in Agriculture
A conservative SPH method for surfactant dynamics
Journal of Computational Physics
Salient feature extraction of industrial objects for an automated assembly system
Computers in Industry
In Vivo OCT Coronary Imaging Augmented with Stent Reendothelialization Score
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Which Shape Representation Is the Best for Real-Time Hand Interface System?
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Using Coplanar Circles to Perform Calibration-Free Planar Scene Analysis under a Perspective View
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
ISBI'09 Proceedings of the Sixth IEEE international conference on Symposium on Biomedical Imaging: From Nano to Macro
Structural descriptors for category level object detection
IEEE Transactions on Multimedia
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International Journal of Applied Mathematics and Computer Science - Applied Image Processing
A real-time ellipse detection based on edge grouping
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
A novel approach to video-based pupil tracking
SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
BTAS'09 Proceedings of the 3rd IEEE international conference on Biometrics: Theory, applications and systems
An efficient, two-stage iris recognition system
BTAS'09 Proceedings of the 3rd IEEE international conference on Biometrics: Theory, applications and systems
WiCOM'09 Proceedings of the 5th International Conference on Wireless communications, networking and mobile computing
Grouping of articulated objects with common axis
CAIP'07 Proceedings of the 12th international conference on Computer analysis of images and patterns
Analysis and recognition of touching cell images based on morphological structures
KES'07/WIRN'07 Proceedings of the 11th international conference, KES 2007 and XVII Italian workshop on neural networks conference on Knowledge-based intelligent information and engineering systems: Part I
Applications of projected circle centers in camera calibration
Machine Vision and Applications
3D reconstruction of specular surfaces using a calibrated projector–camera setup
Machine Vision and Applications
Camera calibration using principal-axes aligned conics
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part I
Conic fitting using the geometric distance
ACCV'07 Proceedings of the 8th Asian conference on Computer vision - Volume Part II
Automated model-based rib cage segmentation and labeling in CT images
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Endoscopic navigation for minimally invasive suturing
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Classification of CT brain images of head trauma
PRIB'07 Proceedings of the 2nd IAPR international conference on Pattern recognition in bioinformatics
Direct ellipse fitting and measuring based on shape boundaries
PSIVT'07 Proceedings of the 2nd Pacific Rim conference on Advances in image and video technology
Morphological distinguished regions
CIARP'07 Proceedings of the Congress on pattern recognition 12th Iberoamerican conference on Progress in pattern recognition, image analysis and applications
Near-duplicate detection using a new framework of constructing accurate affine invariant regions
VISUAL'07 Proceedings of the 9th international conference on Advances in visual information systems
A new surface-tension formulation for multi-phase SPH using a reproducing divergence approximation
Journal of Computational Physics
Euclidean structure from confocal conics: Theory and application to camera calibration
Computer Vision and Image Understanding
A content based image retrieval system for a biological specimen collection
Computer Vision and Image Understanding
Discrete curvature calculation for fast level set segmentation
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
A particle filtering framework for joint video tracking and pose estimation
IEEE Transactions on Image Processing
Robust fitting of ellipses and spheroids
Asilomar'09 Proceedings of the 43rd Asilomar conference on Signals, systems and computers
Toward a method for automatic grading of microscope human embryo images
ISBI'10 Proceedings of the 2010 IEEE international conference on Biomedical imaging: from nano to Macro
C-arm pose estimation using a set of coplanar ellipses in correspondence
ISBI'10 Proceedings of the 2010 IEEE international conference on Biomedical imaging: from nano to Macro
Iris segmentation in non-ideal images using graph cuts
Image and Vision Computing
Fitting multiple connected ellipses to an image silhouette hierarchically
IEEE Transactions on Image Processing
Model-based human gait recognition using leg and arm movements
Engineering Applications of Artificial Intelligence
Model-based registration for motion compensation during EP ablation procedures
WBIR'10 Proceedings of the 4th international conference on Biomedical image registration
Automatic body measurement for mass customization of garments
3DIM'99 Proceedings of the 2nd international conference on 3-D digital imaging and modeling
Improvements in video-based automated system for iris recognition (VASIR)
WMVC'09 Proceedings of the 2009 international conference on Motion and video computing
SIAM Journal on Matrix Analysis and Applications
Relating structural and functional connectivity to performance in a communication task
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
Patient specific models for planning and guidance of minimally invasive aortic valve implantation
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part I
Two-stage outlier elimination for robust curve and surface fitting
EURASIP Journal on Advances in Signal Processing - Special issue on robust processing of nonstationary signals
Quantization-free parameter space reduction in ellipse detection
Expert Systems with Applications: An International Journal
Conic-based algorithm for visual line estimation from one image
FGR' 04 Proceedings of the Sixth IEEE international conference on Automatic face and gesture recognition
Non-intrusive eye gaze estimation without knowledge of eye pose
FGR' 04 Proceedings of the Sixth IEEE international conference on Automatic face and gesture recognition
Robust feature extraction for facial image quality assessment
WISA'10 Proceedings of the 11th international conference on Information security applications
Hyper least squares fitting of circles and ellipses
Computational Statistics & Data Analysis
From Random Polygon to Ellipse: An Eigenanalysis
SIAM Review
Using a geometric formulation of annular-like shape priors for constraining variational level-sets
Pattern Recognition Letters
Line Localization from Single Catadioptric Images
International Journal of Computer Vision
Pothole detection in asphalt pavement images
Advanced Engineering Informatics
CAIP'11 Proceedings of the 14th international conference on Computer analysis of images and patterns - Volume Part I
Real-Time 3D Stereo Tracking and Localizing of Spherical Objects with the iCub Robotic Platform
Journal of Intelligent and Robotic Systems
ACCV'10 Proceedings of the 2010 international conference on Computer vision - Volume part II
Ellipse detection through decomposition of circular arcs and line segments
ICIAP'11 Proceedings of the 16th international conference on Image analysis and processing: Part I
ReVision: automated classification, analysis and redesign of chart images
Proceedings of the 24th annual ACM symposium on User interface software and technology
Improving calibration time and accuracy for situation-specific models of color differentiation
The proceedings of the 13th international ACM SIGACCESS conference on Computers and accessibility
Contour Extraction of Drosophila Embryos
IEEE/ACM Transactions on Computational Biology and Bioinformatics (TCBB)
Face tracking algorithm based on mean shift and ellipse fitting
ICONIP'06 Proceedings of the 13th international conference on Neural Information Processing - Volume Part II
Detection of pathological cells in phase contrast cytological images
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
A 3d model acquisition system based on a sequence of projected level curves
ACIVS'06 Proceedings of the 8th international conference on Advanced Concepts For Intelligent Vision Systems
Feature correspondences from multiple views of coplanar ellipses
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part II
Euclidean structure from N ≥ 2 parallel circles: theory and algorithms
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Ellipse fitting with hyperaccuracy
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part I
Generic-model based human-body modeling
ICEC'05 Proceedings of the 4th international conference on Entertainment Computing
Modeling intra-class variation for nonideal iris recognition
ICB'06 Proceedings of the 2006 international conference on Advances in Biometrics
Online composite sketchy shape recognition using dynamic programming
GREC'05 Proceedings of the 6th international conference on Graphics Recognition: ten Years Review and Future Perspectives
Suppression of IVUS image rotation. a kinematic approach
FIMH'05 Proceedings of the Third international conference on Functional Imaging and Modeling of the Heart
A novel parameter decomposition approach to faithful fitting of quadric surfaces
PR'05 Proceedings of the 27th DAGM conference on Pattern Recognition
Prostate segmentation in 2d ultrasound images using image warping and ellipse fitting
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
Interpreting sphere images using the double-contact theorem
ACCV'06 Proceedings of the 7th Asian conference on Computer Vision - Volume Part I
An automated system for contact lens inspection
ISVC'06 Proceedings of the Second international conference on Advances in Visual Computing - Volume Part I
A dynamic stroke segmentation technique for sketched symbol recognition
IbPRIA'05 Proceedings of the Second Iberian conference on Pattern Recognition and Image Analysis - Volume Part II
Robust attentive behavior detection by non-linear head pose embedding and estimation
ECCV'06 Proceedings of the 9th European conference on Computer Vision - Volume Part III
A shape based, viewpoint invariant local descriptor
MLMI'04 Proceedings of the First international conference on Machine Learning for Multimodal Interaction
Robust ellipse and spheroid fitting
Pattern Recognition Letters
Calibrating effective focal length for central catadioptric cameras using one space line
Pattern Recognition Letters
Pose estimation of randomly organized stator housings
SCIA'05 Proceedings of the 14th Scandinavian conference on Image Analysis
Real time head tracking via camera saccade and shape-fitting
ICIAR'05 Proceedings of the Second international conference on Image Analysis and Recognition
Advanced correlation filters for face recognition using low-resolution visual and thermal imagery
ICIAR'05 Proceedings of the Second international conference on Image Analysis and Recognition
A comparative study on face detection and tracking algorithms
Expert Systems with Applications: An International Journal
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BVAI'05 Proceedings of the First international conference on Brain, Vision, and Artificial Intelligence
Robust real-time pupil tracking in highly off-axis images
Proceedings of the Symposium on Eye Tracking Research and Applications
AEGIS Automated Science Targeting for the MER Opportunity Rover
ACM Transactions on Intelligent Systems and Technology (TIST)
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Pattern Recognition Letters
Theory of evidence for face detection and tracking
International Journal of Approximate Reasoning
Sketch it, make it: sketching precise drawings for laser cutting
CHI '12 Extended Abstracts on Human Factors in Computing Systems
Edge curvature and convexity based ellipse detection method
Pattern Recognition
Conics with a common axis of symmetry: properties and applications to camera calibration
IJCAI'11 Proceedings of the Twenty-Second international joint conference on Artificial Intelligence - Volume Volume Three
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Pattern Recognition Letters
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SIAM Journal on Optimization
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ICIAR'12 Proceedings of the 9th international conference on Image Analysis and Recognition - Volume Part I
A Robust Method for Ventriculomegaly Detection from Neonatal Brain Ultrasound Images
Journal of Medical Systems
EDCircles: A real-time circle detector with a false detection control
Pattern Recognition
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ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part II
Guaranteed ellipse fitting with the sampson distance
ECCV'12 Proceedings of the 12th European conference on Computer Vision - Volume Part V
Computers and Electronics in Agriculture
Journal of Intelligent and Robotic Systems
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Tensor-SIFT Based Earth Mover's Distance for Contour Tracking
Journal of Mathematical Imaging and Vision
Effective elliptic fitting for iris normalization
Computer Vision and Image Understanding
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KES'12 Proceedings of the 16th international conference on Knowledge Engineering, Machine Learning and Lattice Computing with Applications
Quasi-regular facade structure extraction
ACCV'12 Proceedings of the 11th Asian conference on Computer Vision - Volume Part IV
A novel tool for segmenting 3D medical images based on generalized cylinders and active surfaces
Computer Methods and Programs in Biomedicine
Eating activity detection from images acquired by a wearable camera
Proceedings of the 4th International SenseCam & Pervasive Imaging Conference
Camera and light calibration from reflections on a sphere
Computer Vision and Image Understanding
Geometric property based ellipse detection method
Journal of Visual Communication and Image Representation
A Cross-Platform Comparison of Visual Marker Based Approaches for Autonomous Flight of Quadrocopters
Journal of Intelligent and Robotic Systems
Design and implementation of an augmented reality system using gaze interaction
Multimedia Tools and Applications
| Hi-index | 0.16 |
This work presents a new efficient method for fitting ellipses to scattered data. Previous algorithms either fitted general conics or were computationally expensive. By minimizing the algebraic distance subject to the constraint 4ac驴b2 = 1, the new method incorporates the ellipticity constraint into the normalization factor. The proposed method combines several advantages: It is ellipse-specific, so that even bad data will always return an ellipse. It can be solved naturally by a generalized eigensystem. It is extremely robust, efficient, and easy to implement.