Sparse resultant based minimal solvers in computer vision and their connection with the action matrix
This work addresses the need for robust and efficient minimal solvers in computer vision applications like RANSAC frameworks, offering a competitive alternative to existing methods, though it appears incremental as it builds on sparse resultant theory.
The paper tackles the problem of generating efficient polynomial solvers for minimal problems in computer vision, such as camera geometry estimation, by proposing an iterative scheme using sparse resultants and an extra polynomial to improve solver efficiency. The result shows that for some problems, this method leads to smaller and more stable solvers than state-of-the-art Grobner basis-based solvers, with potential for full automation.
Many computer vision applications require robust and efficient estimation of camera geometry from a minimal number of input data measurements, i.e., solving minimal problems in a RANSAC framework. Minimal problems are usually formulated as complex systems of sparse polynomials. The systems usually are overdetermined and consist of polynomials with algebraically constrained coefficients. Most state-of-the-art efficient polynomial solvers are based on the action matrix method that has been automated and highly optimized in recent years. On the other hand, the alternative theory of sparse resultants and Newton polytopes has been less successful for generating efficient solvers, primarily because the polytopes do not respect the constraints on the coefficients. Therefore, in this paper, we propose a simple iterative scheme to test various subsets of the Newton polytopes and search for the most efficient solver. Moreover, we propose to use an extra polynomial with a special form to further improve the solver efficiency via a Schur complement computation. We show that for some camera geometry problems our extra polynomial-based method leads to smaller and more stable solvers than the state-of-the-art Grobner basis-based solvers. The proposed method can be fully automated and incorporated into existing tools for automatic generation of efficient polynomial solvers. It provides a competitive alternative to popular Grobner basis-based methods for minimal problems in computer vision. We also study the conditions under which the minimal solvers generated by the state-of-the-art action matrix-based methods and the proposed extra polynomial resultant-based method, are equivalent. Specifically we consider a step-by-step comparison between the approaches based on the action matrix and the sparse resultant, followed by a set of substitutions, which would lead to equivalent minimal solvers.