An Analysis of the Effect of Gaussian Error in Object Recognition

Object recognition is complicated by clutter, occlusion, and sensor error. Since pose hypotheses are based on image feature locations, these effects can lead to false negatives and positives. In a typical recognition algorithm, pose hypotheses are tested against the image, and a score is assigned to each hypothesis. We use a statistical model to determine the score distribution associated with correct and incorrect pose hypotheses, and use binary hypothesis testing techniques to distinguish between them. Using this approach we can compare algorithms and noise models, and automatically choose values for internal system thresholds to minimize the probability of making a mistake.

Extracting Salient Curves from Images: An Analysis of the Saliency Network

The Saliency Network proposed by Shashua and Ullman is a well-known approach to the problem of extracting salient curves from images while performing gap completion. This paper analyzes the Saliency Network. The Saliency Network is attractive for several reasons. First, the network generally prefers long and smooth curves over short or wiggly ones. While computing saliencies, the network also fills in gaps with smooth completions and tolerates noise. Finally, the network is locally connected, and its size is proportional to the size of the image. Nevertheless, our analysis reveals certain weaknesses with the method. In particular, we show cases in which the most salient element does not lie on the perceptually most salient curve. Furthermore, in some cases the saliency measure changes its preferences when curves are scaled uniformly. Also, we show that for certain fragmented curves the measure prefers large gaps over a few small gaps of the same total size. In addition, we analyze the time complexity required by the method. We show that the number of steps required for convergence in serial implementations is quadratic in the size of the network, and in parallel implementations is linear in the size of the network. We discuss problems due to coarse sampling of the range of possible orientations. We show that with proper sampling the complexity of the network becomes cubic in the size of the network. Finally, we consider the possibility of using the Saliency Network for grouping. We show that the Saliency Network recovers the most salient curve efficiently, but it has problems with identifying any salient curve other than the most salient one.

On the Behavior of the Homogeneous Self-Dual Model for Conic Convex Optimization

There is a natural norm associated with a starting point of the homogeneous self-dual (HSD) embedding model for conic convex optimization. In this norm two measures of the HSD model’s behavior are precisely controlled independent of the problem instance: (i) the sizes of ε-optimal solutions, and (ii) the maximum distance of ε-optimal solutions to the boundary of the cone of the HSD variables. This norm is also useful in developing a stopping-rule theory for HSD-based interior-point methods such as SeDuMi. Under mild assumptions, we show that a standard stopping rule implicitly involves the sum of the sizes of the ε-optimal primal and dual solutions, as well as the size of the initial primal and dual infeasibility residuals. This theory suggests possible criteria for developing starting points for the homogeneous self-dual model that might improve the resulting solution time in practice