Abstract
Much of computer vision and image analysis involves the extraction of “meaningful” information from images using concepts akin to regression and model fitting. Applications include: robot vision, automated surveillance (civil and military) and inspection, biomedical image analysis, video coding, human-machine interface, visualization, historical film restoration etc. However, problems in computer vision often have characteristics that are distinct from those usually addressed by the statistical community. These include pseudo-outliers: in a given image, there are usually several populations of data. Some parts may correspond to one object in a scene and other parts will correspond to other, rather unrelated, objects. When attempting to fit a model to this data, one must consider all populations as outliers to other populations — the term pseudo-outlier has been coined for this situation. Thus it will rarely happen that a given population achieves the critical size of 50% of the total population and, therefore, techniques that have been touted for their high breakdown point (e.g., Least Median of Squares) are no longer reliable candidates, being limited to a 50% breakdown point.
Computer vision researchers have developed their own techniques that perform in a robust fashion. These include RANSAC, ALKS, RESC and MUSE. In this paper new robust procedures are introduced and applied to two problems in computer vision: range image fitting and segmentation, and image motion estimation. The performance is shown, empirically, to be superior to existing techniques and effective even when as little as 5-10% of the data actually belongs to any one structure.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
A. Bab-Hadiashar and D. Suter, Robust Optic Flow Computation. Int. J. Comput. Vision 29 (1998), 59–77.
A. Bab-Hadiashar and D. Suter, Robust Segmentation of Visual Data Using Ranked Unbiased Scale Estimate. ROBOTICA, Int. J. Information, Education and Research in Robotics and Artificial Intelligence 17 (1999), 649–660.
A. Bab-Hadiashar and D. Suter, Range and Motion Segmentation. In A. Bab-Hadiashar and D. Suter, editors, Data Segmentation and Model Selection for Computer Vision, pages 119–142. Springer-Verlag, 2000.
A. Bab-Hadiashar, N. Gheissari, and D. Suter, Robust Model Based Visual Data Using Segmentation. In R. Kasturi, D. Laurendeau, and G. Suen, editors, Proceedings of ICPR2002, Vol. 2, pages 753–757, 2002.
M. Black and A. Rangarajan, On the Unification of Line Processes, Outlier Rejection, and Robust Statistics With Applications in Early Vision. Int. J. Comput. Vision 19 (1996), 57–92.
D. Comaniciu, V. Ramesh, and A. Del Bue, Multivariate Saddle Point Detection for Statistical Clustering. In A. Heyden, G. Sparr, M. Nielsen, and P. Johansen, editors, Proceedings of European Conf. Computer Vision, Vol 3 (ECCV’02), pages 561–576. Copenhagen, Denmark, 2002.
M. A. Fischler and R. C. Bolles, Random Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography. Comm. ACM 24 (1981), 381–395.
K. Pukunaga and L. D. Hostetler, The Estimation of the Gradient of a Density Function, with Applications in Pattern Recognition. IEEE Trans. Info. Theory IT-21 (1975), 32–40.
K. Kanatani, Statistical Optimization for Geometric Computation: Theory and Practice. Elsevier Science, Amsterdam, 1996.
K.-M. Lee, P. Meer, and R.-H. Park, Robust Adaptive Segmentation of Range Images. IEEE Trans. Pattern Anal. Mach. Intell. 20 (1998), 200–205.
P. Meer, D. Mintz, D. Y. Kim, and A. Rosenfeld, Robust Regression Methods in Computer Vision: A Review. Int. J. Comput. Vision 6 (1991), 59–70.
P. Meer, C. V. Stewart, and D. Tyler, Robust Computer Vision: an Interdisciplinary Challenge. Comput. Vis. Image Und. 78 (2000), 1–7.
J. V. Miller and C. V. Stewart, MUSE: Robust Surface Fitting Using Unbiased Scale Estimates. In Proc. Computer Vision and Pattern Recognition’96, pages 300–306, 1996.
C. V. Stewart, MINPRAN: A New Robust Estimator For Computer Vision. IEEE Trans. Pattern Anal. Mach. Intell. 17 (1995), 925–938.
C. V. Stewart, Robust Parameter Estimation in Computer Vision. SIAM Rev. 41 (1999), 513–537.
M. P. Wand and M. Jones, Kernel Smoothing. Chapman and Hall, 1995.
H. Wang and D. Suter, LTSD: A Highly Efficient Symmetry-Based Robust Estimator. In Proceedings ICARCV2002, pages 332–337, 2002.
H. Wang and D. Suter, Variable Bandwidth QMDPE and its Application in Robust Optic Flow Estimation. In Proceedings ICCV03, International Conference on Computer Vision, to appear, 2003a, available at http://www.ds.eng.monash.edu.au/suter-publications.
H. Wang and D. Suter, MDPE: A Very Robust Estimator for Model Fitting and Range Image Segmentation. Int. J. Comput. Vision (2003b), to appear, available at http://www.ds.eng.monash.edu.au/suter-publications.
X. Yu, T. D. Bui, and A. Krzyzak, Robust Estimation for Range Image Segmentation and Reconstruction. IEEE Trans. Pattern Anal. Mach. Intell. 16 (1994), 530–538.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer Basel AG
About this paper
Cite this paper
Suter, D., Wang, H. (2004). Robust Fitting Using Mean Shift: Applications in Computer Vision. In: Hubert, M., Pison, G., Struyf, A., Van Aelst, S. (eds) Theory and Applications of Recent Robust Methods. Statistics for Industry and Technology. Birkhäuser, Basel. https://doi.org/10.1007/978-3-0348-7958-3_27
Download citation
DOI: https://doi.org/10.1007/978-3-0348-7958-3_27
Publisher Name: Birkhäuser, Basel
Print ISBN: 978-3-0348-9636-8
Online ISBN: 978-3-0348-7958-3
eBook Packages: Springer Book Archive