A Convex Optimization Approach to Robust Fundamental Matrix Estimation

Yongfang Cheng, Jose A. Lopez, Octavia Camps, Mario Sznaier; The IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2015, pp. 2170-2178

Abstract


This paper considers the problem of recovering a subspace arrangement from noisy samples, potentially corrupted with outliers. Our main result shows that this problem can be formulated as a constrained polynomial optimization, for which a monotonically convergent sequence of tractable convex relaxations can be obtained by exploiting recent developments in sparse polynomial optimization. Further, these results allow for deriving conditions certifying that a finite order relaxation has converged to a solution. A salient feature of the proposed approach is its ability to incorporate existing a-priori information about the noise, co-ocurrences, and percentage of outliers. These results are illustrated with several examples where the proposed algorithm is shown to outperform existing approaches.

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[bibtex]
@InProceedings{Cheng_2015_CVPR,
author = {Cheng, Yongfang and Lopez, Jose A. and Camps, Octavia and Sznaier, Mario},
title = {A Convex Optimization Approach to Robust Fundamental Matrix Estimation},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2015}
}