Robust Ellipsoid-specific Fitting via Expectation Maximization

• URL: http://arxiv.org/abs/2110.13337v1
• Date: Tue, 26 Oct 2021 00:43:02 GMT
• Title: Robust Ellipsoid-specific Fitting via Expectation Maximization
• Authors: Zhao Mingyang, Jia Xiaohong, Ma Lei, Qiu Xinlin, Jiang Xin, and Yan Dong-Ming
• Abstract summary: Ellipsoid fitting is of general interest in machine vision, such as object detection and shape approximation. We propose a novel and robust method for ellipsoid fitting in a noisy, outlier-contaminated 3D environment. Our method is ellipsoid-specific, parameter free, and more robust against noise, outliers, and the large axis ratio.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Ellipsoid fitting is of general interest in machine vision, such as object detection and shape approximation. Most existing approaches rely on the least-squares fitting of quadrics, minimizing the algebraic or geometric distances, with additional constraints to enforce the quadric as an ellipsoid. However, they are susceptible to outliers and non-ellipsoid or biased results when the axis ratio exceeds certain thresholds. To address these problems, we propose a novel and robust method for ellipsoid fitting in a noisy, outlier-contaminated 3D environment. We explicitly model the ellipsoid by kernel density estimation (KDE) of the input data. The ellipsoid fitting is cast as a maximum likelihood estimation (MLE) problem without extra constraints, where a weighting term is added to depress outliers, and then effectively solved via the Expectation-Maximization (EM) framework. Furthermore, we introduce the vector {\epsilon} technique to accelerate the convergence of the original EM. The proposed method is compared with representative state-of-the-art approaches by extensive experiments, and results show that our method is ellipsoid-specific, parameter free, and more robust against noise, outliers, and the large axis ratio. Our implementation is available at https://zikai1.github.io/.

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