EMベース多モデル3D位置合わせの理論解析
Theoretical Analysis for Expectation-Maximization-Based Multi-Model 3D Registration
EMアルゴリズムを用いた多モデル3D位置合わせが正解に収束する条件を、確率的裾束縛を用いて理論的に解明した研究。
著者: David Jin, Harry Zhang, Kai Chang
分類: cs.CV, cs.RO
原文アブストラクト
We perform detailed theoretical analysis of an expectation-maximization-based algorithm recently proposed in for solving a variation of the 3D registration problem, named multi-model 3D registration. Despite having shown superior empirical results, did not theoretically justify the conditions under which the EM approach converges to the ground truth. In this project, we aim to close this gap by establishing such conditions. In particular, the analysis revolves around the usage of probabilistic tail bounds that are developed and applied in various instances throughout the course. The problem studied in this project stands as another example, different from those seen in the course, in which tail-bounds help advance our algorithmic understanding in a probabilistic way. We provide self-contained background materials on 3D Registration
