Browsing by Subject "Robust estimation"
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Item Analysis of independent motion detection in 3D scenes(2012-08) Floren, Andrew William; Bovik, Alan C. (Alan Conrad), 1958-In this thesis, we develop an algorithm for detecting independent motion in real-time from 2D image sequences of arbitrarily complex 3D scenes. We discuss the necessary background information in image formation, optical flow, multiple view geometry, robust estimation, and real-time camera and scene pose estimation for constructing and understanding the operation of our algorithm. Furthermore, we provide an overview of existing independent motion detection techniques and compare them to our proposed solution. Unfortunately, the existing independent motion detection techniques were not evaluated quantitatively nor were their source code made publicly available. Therefore, it is not possible to make direct comparisons. Instead, we constructed several comparison algorithms which should have comparable performance to these previous approaches. We developed methods for quantitatively comparing independent motion detection algorithms and found that our solution had the best performance. By establishing a method for quantitatively evaluating these algorithms and publishing our results, we hope to foster better research in this area and help future investigators more quickly advance the state of the art.Item Robustness analysis of linear estimators(Texas A&M University, 2004-09-30) Tayade, RajeshwaryRobustness of a system has been defined in various ways and a lot of work has been done to model the system robustness , but quantifying or measuring robustness has always been very difficult. In this research we consider a simple system of a linear estimator and then attempt to model the system performance and robustness in a geometrical manner which admits an analysis using the differential geometric concepts of slope and curvature. We try to compare two different types of curvatures, namely the curvature along the maximum slope of a surface and the square-root of the absolute value of sectional curvature of a surface, and observe the values to see if both of them can alternately be used in the process of understanding or measuring system robustness. In this process we have worked on two different examples and taken readings for many points to find if there is any consistency in the two curvatures.