Optimization Criteria, Sensitivity and Robustness of Motion and Structure Estimation

The prevailing efforts to study the standard formulation of motion and structure recovery have been recently focused on issues of sensitivity and and robustness of existing techniques. While many cogent observations have been made and verified experimentally, many statements do not hold in general settings and make a comparison of existing techniques difficult. With an ultimate goal of clarifying these issues we study the main aspects of the problem: the choice of objective functions, optimization techniques and the sensitivity and robustness issues in the presence of noise. We clearly reveal the relationship among different objective functions, such as “(normalized) epipolar constraints”, “reprojection error” or “triangulation”, which can all be be unified in a new “ optimal triangulation” procedure formulated as a constrained optimization problem. Regardless of various choices of the objective function, the optimization problems all inherit the same unknown param...

• Type: Conference
• Year: 1999
• Where: ICCVW
• Authors: Jana Kosecka, Yi Ma, Shankar Sastry
• Keywords: Computer Vision, Different Objective Functions, ICCVW 1999, Objective Functions, Optimization Techniques