Hybrid Trilinear and Bilinear Programming for Aligning Partially Overlapping Point Sets

• URL: http://arxiv.org/abs/2101.07458v3
• Date: Wed, 5 Jul 2023 06:46:37 GMT
• Title: Hybrid Trilinear and Bilinear Programming for Aligning Partially Overlapping Point Sets
• Authors: Wei Lian and Wangmeng Zuo
• Abstract summary: In many applications, we need algorithms which can align partially overlapping point sets are invariant to the corresponding corresponding RPM algorithm. We first show that the objective is a cubic bound function. We then utilize the convex envelopes of trilinear and bilinear monomial transformations to derive its lower bound. We next develop a branch-and-bound (BnB) algorithm which only branches over the transformation variables and runs efficiently.
• Score: 85.71360365315128
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: In many applications, we need algorithms which can align partially overlapping point sets and are invariant to the corresponding transformations. In this work, a method possessing such properties is realized by minimizing the objective of the robust point matching (RPM) algorithm. We first show that the RPM objective is a cubic polynomial. We then utilize the convex envelopes of trilinear and bilinear monomials to derive its lower bound function. The resulting lower bound problem has the merit that it can be efficiently solved via linear assignment and low dimensional convex quadratic programming. We next develop a branch-and-bound (BnB) algorithm which only branches over the transformation variables and runs efficiently. Experimental results demonstrated better robustness of the proposed method against non-rigid deformation, positional noise and outliers in case that outliers are not mixed with inliers when compared with the state-of-the-art approaches. They also showed that it has competitive efficiency and scales well with problem size.

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