A Resampling Method for Computer Vision

A resampling procedure based on Efron’s bootstrap method is proposed for the robust estimation of parameters from redundant data. The procedure handles a substantial fraction of outliers, has linear complexity even for superlinear estimation problems, can be applied to any parameter estimation algorithm without modification, and is easily parallelized. The problem of estimating camera motion from instantaneous image velocities is used to illustrate the method. Simulations and results show robust and accurate results.

[1]  M. H. Quenouille.  Approximate Tests of Correlation in Time‐Series , 1949 .

[2]  William Feller,et al.  An Introduction to Probability Theory and Its Applications , 1951 .

[3]  William Feller,et al.  An Introduction to Probability Theory and Its Applications , 1967 .

[4]  Richard O. Duda,et al.  Use of the Hough transformation to detect lines and curves in pictures , 1972, CACM.

[5]  Jack Sklansky,et al.  Finding circles by an array of accumulators , 1975, Commun. ACM.

[6]  G. Golub,et al.  Good Ridge Parameter , 1979 .

[7]  Dana H. Ballard,et al.  Generalizing the Hough transform to detect arbitrary shapes , 1981, Pattern Recognit..

[8]  Takeo Kanade,et al.  An Iterative Image Registration Technique with an Application to Stereo Vision , 1981, IJCAI.

[9]  H. C. Longuet-Higgins,et al.  A computer algorithm for reconstructing a scene from two projections , 1981, Nature.

[10]  K. Prazdny,et al.  On the information in optical flows , 1983, Comput. Vis. Graph. Image Process..

[11]  B. Efron,et al.  The Jackknife: The Bootstrap and Other Resampling Plans. , 1983 .

[12]  Berthold K. P. Horn,et al.  Passive navigation , 1982, Comput. Vis. Graph. Image Process..

[13]  Gene H. Golub,et al.  Matrix computations , 1983 .

[14]  B. Efron,et al.  A Leisurely Look at the Bootstrap, the Jackknife, and , 1983 .

[15]  Robert C. Bolles,et al.  Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography , 1981, CACM.

[16]  B. Efron.  The jackknife, the bootstrap, and other resampling plans , 1987 .

[17]  G. Wahba,et al.  The computation of generalized cross-validation functions through householder tridiagonalization with applications to the fitting of interaction spline models , 1989 .

[18]  Steven Dubowsky,et al.  Planning mobile manipulator motions considering vehicle dynamic stability constraints , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[19]  Narendra Ahuja,et al.  Optimal motion and structure estimation , 1989, Proceedings CVPR '89: IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[20]  Ian D. Walker,et al.  Multiple cooperating manipulators: The case of kinematically redundant arms , 1989 .

[21]  J. Shao,et al.  A General Theory for Jackknife Variance Estimation , 1989 .

[22]  Shigeo Hirose,et al.  Design and Control of a Mobile Robot with an Articulated Body , 1990, Int. J. Robotics Res..

[23]  J. Shao.  Consistency of jackknife variance estimators jun , 1991 .

[24]  Michael J. Black,et al.  Robust dynamic motion estimation over time , 1991, Proceedings. 1991 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[25]  Roberto Cipolla,et al.  Robust structure from motion using motion parallax , 1993, 1993 (4th) International Conference on Computer Vision.

[26]  Miguel Angel Torres.  Modeling, path-planning and control of space manipulators : the coupling map concept , 1993 .

[27]  Steven Dubowsky,et al.  Path-planning for elastically constrained space manipulator systems , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[28]  Heekuck Oh,et al.  Neural Networks for Pattern Recognition , 1993, Adv. Comput..

[29]  Steven B. Skaar,et al.  Overview Of International Robot Design For Space Station Freedom , 1994 .

[30]  Carlo Tomasi,et al.  Good features to track , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[31]  Tsuneo Yoshikawa,et al.  Dynamic trajectory tracking control of flexible manipulator macro-micro manipulator system , 1993, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[32]  Dong-Hwan Hwang,et al.  Input shaping filter methods for the control of structurally flexible, long-reach manipulators , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[33]  Tsuneo Yoshikawa,et al.  Impedance control of redundant macro-micro manipulators , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[34]  Xiaoping Yun,et al.  Modeling and compensation of the dynamic interaction of a mobile manipulator , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[35]  Kazuya Yoshida.  Practical coordination control between satellite attitude and manipulator reaction dynamics based on computed momentum concept , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[36]  S. T. Buckland,et al.  An Introduction to the Bootstrap. , 1994 .

[37]  Kazuya Yoshida,et al.  Space Robot Impact Analysis and Satellite-Base Impulse Minimization Using Reaction Null-Space , 1995, ICRA.

[38]  M. S. Evans,et al.  Micro manipulator motion control to suppress macro manipulator structural vibrations , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[39]  Homayoun Seraji.  Configuration control of rover-mounted manipulators , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[40]  Kazuo Tsuchiya,et al.  An Experimental Study on Motion Control of a Biped Locomotion Machine Using Reaction Wheels , 1995, ISER.

[41]  Oussama Khatib,et al.  Inertial Properties in Robotic Manipulation: An Object-Level Framework , 1995, Int. J. Robotics Res..

[42]  Andrew A. Goldenberg,et al.  A remote manipulator for forestry operation , 1995, IEEE Trans. Robotics Autom..

[43]  Ahmad Ghasempoor,et al.  A measure of machine stability for moving base manipulators , 1995, Proceedings of 1995 IEEE International Conference on Robotics and Automation.

[44]  Philippe Fraisse,et al.  Mobile Manipulation of a Fragile Object , 1995, ISER.

[45]  C. Tomasi,et al.  Image deformations are better than optical flow , 1996 .

[46]  Michael J. Black,et al.  On the unification of line processes , 1996 .

[47]  Peter Meer,et al.  Performance Assessment Through Bootstrap , 1997, IEEE Trans. Pattern Anal. Mach. Intell..

[48]  Mitsushige Oda,et al.  Coordinated control of spacecraft attitude and space manipulators , 1997 .

[49]  Claus B. Madsen.  A comparative study of the robustness of two pose estimation techniques , 1997, Machine Vision and Applications.

[50]  Amnon Shashua,et al.  Novel View Synthesis by Cascading Trilinear Tensors , 1998, IEEE Trans. Vis. Comput. Graph..

[51]  Guillermo Sapiro,et al.  Robust anisotropic diffusion , 1998, IEEE Trans. Image Process..

[52]  John Oliensis.  Computing the camera heading from multiple frames , 1998, Proceedings. 1998 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No.98CB36231).

[53]  Carlo Tomasi,et al.  Fast, robust, and consistent camera motion estimation , 1999, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149).

[54]  Peter Meer,et al.  Optimal rigid motion estimation and performance evaluation with bootstrap , 1999, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149).

[55]  T. Fearn.  The Jackknife , 2000 .

[56]  Steven Dubowsky,et al.  Dealing With Vibrations in the Deployment Structures of Space Robotic Systems , 2000 .