716079
Euclidean Reconstruction and Reprojection Up to Subgroups
The necessary and sufficient conditions for being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satisfied in practice. What exactly can be estimated in sequences of practical importance, when such conditions are not satisfied? In this paper we give a complete answer to this question. For every camera motion that fails to meet the conditions, we give explicit formulas for the ambiguities in the reconstructed scene, motion and calibration. Such a characterization is crucial both for designing robust estimation algorithms (that do not try to recover parameters that cannot be recovered), and for generating novel views of the scene by controlling the vantage point. To this end, we characterize explicitly all the vantage points that give rise to a valid Euclidean reprojection regardless of the ambiguity in the reconstruction. We also characterize vantage points that generate views that are altogether invariant to the ambiguity. All the results are presented using simple notation that involves no tensors nor complex projective geometry, and should be accessible with basic background in linear algebra.
13369249
Reconstruction of 3-D Symmetric Curves from Perspective Images without Discrete Features
The shapes of many natural and man-made objects have curved contours. The images of such contours usually do not have sufficient distinctive features to apply conventional feature-based reconstruction algorithms. This paper shows that both the shape of curves in 3-D space and the camera poses can be accurately reconstructed from their perspective images with unknown point correspondences given that the curves have certain invariant properties such as symmetry. We show that in such cases the minimum number of views needed for a solution is remarkably small: one for planar curves and two for nonplanar curves (of arbitrary shapes), which is significantly less than what is required by most existing algorithms for general curves. Our solutions rely on minimizing the L 2-distance between the shapes of the curves reconstructed via the “epipolar geometry” of symmetric curves. Both simulations and experiments on real images are presented to demonstrate the effectiveness of our approach.
354989
Symmetry-based photo editing
Based on high-level geometric knowledge, especially symmetry, imposed upon objects in images, we demonstrate how to edit images in terms of correct 3-D shape and relationships of the objects, without explicitly performing full 3-D reconstruction. Symmetry is proposed as the central notation that unifies both conceptually and algorithmically all types of geometric regularities such as parallelism, orthogonality, and similarity. The methods are extremely simple, accurate and easy to implement, and they demonstrate the power of applying scene knowledge.
36567578
Euclidean reconstruction and reprojection up to subgroups
The necessary and sufficient conditions for being able to estimate scene structure, motion and camera calibration from a sequence of images are very rarely satisfied in practice. What exactly can be estimated in sequences of practical importance, when such conditions are not satisfied? In this paper we give a complete answer to this question. For every camera motion that fails to meet the conditions, we give explicit formulas for the ambiguities in the reconstructed scene, motion and calibration. Such a characterization is crucial both for designing robust estimation algorithms (that do not try to recover parameters that cannot be recovered), and for generating novel views of the scene by controlling the vantage point. To this end, we characterize explicitly all the vantage points that give rise to a valid Euclidean reprojection regardless of the ambiguity in the reconstruction. We also characterize vantage points that generate views that are altogether invariant to the ambiguity. All the results are presented using simple notation that involves no tensors nor complex projective geometry, and should be accessible with basic background in linear algebra.
8131766
Segmentation of a piece-wise planar scene from perspective images
We study and compare two novel embedding methods for segmenting feature points of piece-wise planar structures from two (uncalibrated) perspective images. We show that a set of different homographies can be embedded in different ways to a higher-dimensional real or complex space, so that each homography corresponds to either a complex bilinear form or a real quadratic form. Each embedding reveals different algebraic properties and relations of homographies. We give a closed-form segmentation solution for each case by utilizing these properties based on subspace-segmentation methods. These theoretical results show that one can intrinsically segment a piece-wise planar scene from 2-D images without explicitly performing any 3-D reconstruction. The resulting segmentation may make subsequent 3-D reconstruction much better-conditioned. We demonstrate the proposed methods with some convincing experimental results.
7027764
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 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 parameter space, the so called "essential manifold", making the new optimization techniques on Riemanian manifolds directly applicable. 
 
Using these analytical results we provide a clear account of sensitivity and robustness of the proposed linear and nonlinear optimization techniques and study the analyticaland practical equivalence of different objective functions. The geometric characterization of critical points of a function defined on essential manifold and the simulation results clarify the difference between the effect of bas relief ambiguity and other types of local minima leading to a consistent interpretations of simulation results over large range of signal-to-noise ratio and variety of configurations.
47404061
Diversity and Multiplexing Tradeoff in General Fading Channels
The optimal tradeoff between diversity gain and multiplexing gain for multiple-inputmultiple-output (MIMO) channels has been studied recently under the independent and identically distributed (i.i.d.) Rayleigh-fading assumption. In this correspondence, this result is extended and the optimal tradeoff performance is derived for generalized fading channel conditions, including different fading types, nonidentical fading distributions, spatial correlation, and nonzero channel means. Our results include many known models as special cases and shed light on the effects of different channel parameters on the optimal tradeoff performance
7391513
Asymptotic performance of hybrid-selection/maximal-ratio combining over fading channels
In this letter, we study the asymptotic performance of hybrid-selection/maximal-ratio combining (HS/MRC) and postdetection HS/equal-gain combining (HS/EGC) over generalized fading channels for large average signal-to-noise ratios (ASNRs). By evaluating the asymptotic moment generating function of the HS/MRC output SNR at high ASNR, we derive the diversity and coding gains for HS/MRC for a large class of modulation formats and versatile fading conditions, including different types of fading channels and nonidentical SNR statistics across diversity branches. Our analytical results reveal that the diversity gains of HS/MRC and HS/EGC are equivalent to that of MRC, and the difference in the coding gains for different modulation formats is manifested in terms of a modulation factor defined in this letter. Some new analytical results about effects of the number of combined branches for HS/MRC and noncoherent combining loss of HS/EGC are also provided.
2798845
Modeling and querying uncertain spatial information for situational awareness applications
Situational awareness (SA) applications monitor the real world and the entities therein to support tasks such as rapid decision-making, reasoning, and analysis. Raw input about unfolding events may arrive from variety of sources in the form of sensor data, video streams, human observations, and so on, from which events of interest are extracted. Location is one of the most important attributes of events, useful for a variety of SA tasks. In this paper, we propose an approach to model and represent (potentially uncertain) event locations described by human reporters in the form of free text. We analyze several types of spatial queries of interest in SA applications. Our experimental evaluation demonstrates the effectiveness of our approach.
2268413
Web object retrieval
The primary function of current Web search engines is essentially relevance ranking at the document level. However, myriad structured information about real-world objects is embedded in static Web pages and online Web databases. Document-level information retrieval can unfortunately lead to highly inaccurate relevance ranking in answering object-oriented queries. In this paper, we propose a paradigm shift to enable searching at the object level. In traditional information retrieval models, documents are taken as the retrieval units and the content of a document is considered reliable. However, this reliability assumption is no longer valid in the object retrieval context when multiple copies of information about the same object typically exist. These copies may be inconsistent because of diversity of Web site qualities and the limited performance of current information extraction techniques. If we simply combine the noisy and inaccurate attribute information extracted from different sources, we may not be able to achieve satisfactory retrieval performance. In this paper, we propose several language models for Web object retrieval, namely an unstructured object retrieval model, a structured object retrieval model, and a hybrid model with both structured and unstructured retrieval features. We test these models on a paper search engine and compare their performances. We conclude that the hybrid model is the superior by taking into account the extraction errors at varying levels.
9332901
On-Demand Information Portals for Disaster Situations
This paper describes our work on developing technology for rapidly assembling information portals that provide integrated access to and analysis of information from multiple sources in the case of any disaster. Many recent disasters (the S.E. Asian Tsunamis, the London subway bombings, the Katrina hurricane, to name a few) have demonstrated that a lot of valuable information becomes available in the hours and days immediately following the disaster, and such information is indeed valuable to disaster managers or even citizens in their response. In this paper we describe our work on developing information portals for disasters in general; we describe many key information processing capabilities and challenges that we consider important in such portals and also describe our approach to developing such capabilities.