This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.

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Abstract—This work presents a new perspective on characterizing the similarity between elements of a database or, more generally, nodes of a weighted and undirected graph. It is based on a Markov-chain model of random walk through the database. More precisely, we compute quantities (the average commute time, the pseudoinverse of the Laplacian matrix of the graph, etc.) that provide similarities between any pair of nodes, having the nice property of increasing when the number of paths connecting those elements increases and when the “length ” of paths decreases. It turns out that the square root of the average commute time is a Euclidean distance and that the pseudoinverse of the Laplacian matrix is a kernel matrix (its elements are inner products closely related to commute times). A principal component analysis (PCA) of the graph is introduced for computing the subspace projection of the node vectors in a manner that preserves as much variance as possible in terms of the Euclidean commute-time distance. This graph PCA provides a nice interpretation to the “Fiedler vector, ” widely used for graph partitioning. The model is evaluated on a collaborativerecommendation task where suggestions are made about which movies people should watch based upon what they watched in the past. Experimental results on the MovieLens database show that the Laplacian-based similarities perform well in comparison with other methods. The model, which nicely fits into the so-called “statistical relational learning ” framework, could also be used to compute document or word similarities, and, more generally, it could be applied to machine-learning and pattern-recognition tasks involving a relational database. Index Terms—Graph analysis, graph and database mining, collaborative recommendation, graph kernels, spectral clustering, Fiedler vector, proximity measures, statistical relational learning. 1

. The problem of nding good preconditioners for the numerical solution of indenite linear systems is considered. Special emphasis is put on preconditioners that have a 2 2 block structure and which incorporate the (1; 2) and (2; 1) blocks of the original matrix. Results concerning the spectrum and form of the eigenvectors of the preconditioned matrix and its minimum polynomial are given. The consequences of these results are considered for a variety of Krylov subspace methods. Numerical experiments validate these conclusions. Key words. preconditioning, indenite matrices, Krylov subspace methods AMS subject classications. 65F10, 65F15, 65F50 1. Introduction. In this paper, we are concerned with investigating a new class of preconditioners for indenite systems of linear equations of a sort which arise in constrained optimization as well as in least-squares, saddle-point and Stokes problems. We attempt to solve the indenite linear system A B T B 0 | {z } A x 1 x...

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Abstract. We define a notion of Radon Transform for data in an n by n grid. It is based on summation along lines of absolute slope less than 1 (as a function either of x or of y), with values at non-Cartesian locations defined using trigonometric interpolation on a zero-padded grid. The definition is geometrically faithful: the lines exhibit no ‘wraparound effects’. For a special set of lines equispaced in slope (rather than angle), we describe an exact algorithm which uses O(N log N) flops, where N = n2 is the number of pixels. This relies on a discrete projection-slice theorem relating this Radon transform and what we call the Pseudopolar Fourier transform. The Pseudopolar FT evaluates the 2-D Fourier transform on a non-Cartesian pointset, which we call the pseudopolar grid. Fast Pseudopolar FT – the process of rapid exact evaluation of the 2-D Fourier transform at these non-Cartesian grid points – is possible using chirp-Z transforms. This Radon transform is one-to-one and hence invertible on its range; it is rapidly invertible to any degree of desired accuracy using a preconditioned conjugate gradient solver. Empirically, the numerical conditioning is superb; the singular value spread of the preconditioned Radon transform turns out numerically to be less than 10%, and three iterations of the conjugate gradient solver typically suffice for 6 digit accuracy. We also describe a 3-D version of the transform.

Standard preconditioners, like incomplete factorizations, perform well when the coefficient matrix is diagonally dominant, but often fail on general sparse matrices. We experiment with nonsymmetric permutationsand scalingsaimed at placing large entrieson the diagonal in the context of preconditioning for general sparse matrices. The permutations and scalings are those developed by Olschowka and Neumaier [Linear Algebra Appl., 240 (1996), pp. 131–151] and by Duff and

Abstract. We provide a general frameworkfor the understanding of inexact Krylov subspace methods for the solution of symmetric and nonsymmetric linear systems of equations, as well as for certain eigenvalue calculations. This frameworkallows us to explain the empirical results reported in a series of CERFACS technical reports by Bouras, Frayssé, and Giraud in 2000. Furthermore, assuming exact arithmetic, our analysis can be used to produce computable criteria to bound the inexactness of the matrix-vector multiplication in such a way as to maintain the convergence of the Krylov subspace method. The theory developed is applied to several problems including the solution of Schur complement systems, linear systems which depend on a parameter, and eigenvalue problems. Numerical experiments for some of these scientific applications are reported.

Weighted finite-state transducers suffer from the lack of a training algorithm. Training is even harder for transducers that have been assembled via finite-state operations such as composition, minimization, union, concatenation, and closure, as this yields tricky parameter tying. We formulate a "parameterized FST" paradigm and give training algorithms for it, including a general bookkeeping trick ("expectation semirings") that cleanly and efficiently computes expectations and gradients.

Abstract. We describe an effective solver for the discrete Oseen problem based on an augmented Lagrangian formulation of the corresponding saddle point system. The proposed method is a block triangular preconditioner used with a Krylov subspace iteration like BiCGStab. The crucial ingredient is a novel multigrid approach for the (1,1) block, which extends a technique introduced by Schöberl for elasticity problems to nonsymmetric problems. Our analysis indicates that this approach results in fast convergence, independent of the mesh size and largely insensitive to the viscosity. We present experimental evidence for both isoP2-P0 and isoP2-P1 finite elements in support of our conclusions. We also show results of a comparison with two state-of-the-art preconditioners, showing the competitiveness of our approach. Key words. Navier–Stokes equations, finite element, iterative methods, multigrid, preconditioning AMS subject classifications. 65F10, 65N22, 65F50 DOI. 10.1137/050646421 1. Introduction. We consider the numerical solution of the steady Navier– Stokes equations governing the flow of a Newtonian, incompressible viscous fluid. Let Ω ⊂ R d (d =2,3) be a bounded, connected domain with a piecewise smooth