Spectral Partitioning for Structure from Motion

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38473

Title: Spectral Partitioning for Structure from Motion
Author: Steedly, Drew ; Essa, Irfan ; Dellaert, Frank
Abstract: We propose a spectral partitioning approach for large-scale optimization problems, specifically structure from motion. In structure from motion, partitioning methods reduce the problem into smaller and better conditioned subproblems which can be efficiently optimized. Our partitioning method uses only the Hessian of the reprojection error and its eigenvectors. We show that partitioned systems that preserve the eigenvectors corresponding to small eigenvalues result in lower residual error when optimized. We create partitions by clustering the entries of the eigenvectors of the Hessian corresponding to small eigenvalues. This is a more general technique than relying on domain knowledge and heuristics such as bottom-up structure from motion approaches. Simultaneously, it takes advantage of more information than generic matrix partitioning algorithms.
Description: ©2003 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Presented at the 2003 9th IEEE International Conference on Computer Vision (ICCV), 13-16 October 2003, Nice, France. DOI: 10.1109/ICCV.2003.1238457
Type: Post-print
Proceedings
URI: http://hdl.handle.net/1853/38473
ISSN: 1550-5499
Citation: Steedly, D., Essa, I., & Dellaert, F. (2003). “Spectral Partitioning for Structure from Motion”. Proceedings of the 2003 9th IEEE International Conference on Computer Vision (ICCV), 13-16 October 2003, Vol. 2, 996-1003.
Date: 2003-10
Contributor: Georgia Institute of Technology. Center for Robotics and Intelligent Machines
Georgia Institute of Technology. College of Computing
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Computer vision
Eigenvalue
Eigenvectors
Hessian
Optimization
Reprojection error
Spectral partitioning
Structure from motion

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