Two images of a single scene/object are related by the epipolar geometry, which can be described by a 3×3 singular matrix called the essential matrix if images' internal parameters are known, or the fundamental matrix otherwise. It captures all geometric information contained in two images, and its determination is very important in many applications such as scene modeling and vehicle navigation. This paper gives an introduction to the epipolar geometry, and provides a complete review of the current techniques for estimating the fundamental matrix and its uncertainty. A well-founded measure is proposed to compare these techniques. Projective reconstruction is also reviewed. The software which we have developed for this review is available on the Internet.

We propose a flexible new technique to easily calibrate a camera. It only requires the camera to observe a planar pattern shown at a few (at least two) different orientations. Either the camera or the planar pattern can be freely moved. The motion need not be known. Radial lens distortion is modeled. The proposed procedure consists of a closed-form solution, followed by a nonlinear refinement based on the maximum likelihood criterion. Both computer simulation and real data have been used to test the proposed technique, and very good results have been obtained. Compared with classical techniques which use expensive equipment such as two or three orthogonal planes, the proposed technique is easy to use and flexible. It advances 3D computer vision one step from laboratory environments to real world use. The corresponding software is available from the author’s Web page.

Platt's probabilistic outputs for Support Vector Machines [6] has been popular for applications that require posterior class probabilities. In this note, we propose an improvement which theoretically converges and avoids numerical difficulties. A simpler and ready-to-use pseudo code is included.

this paper (based on a different data set) was presented at the 1992 North American Winter Meeting of the Econometric SocietyinNew Orleans, Louisiana.

In this paper we present a method for optimally estimating the rotation and translation between a camera and a 3-D object from point and/or line correspondences. First we devise an error function and second weshowhowto minimize this error function. The quadratic nature of this function is made possible by representing rotation and translation with a dual number quaternion. We provide a detailed account of the computational aspects of a trust-region optimization method. This method compares favourably with Newton's method which has extensively been used to solve the problem at hand, with Faugeras-Toscani's linear method [6] for calibrating a camera, and with the Levenberg-Marquardt non-linear optimization method. Finally we present some experimental results which demonstrate the robustness of our method with respect to image noise and matching errors.

Statistical techniques based on hidden Markov Models (HMMs) with Gaussian emission densities have dominated signal processing and pattern recognition literature for the past 20 years. However, HMMs trained using maximum likelihood techniques suffer from an inability to learn discriminative information and are prone to overfitting and over-parameterization. Recent work in machine learning has focused on models, such as the support vector machine (SVM), that automatically control generalization and parameterization as part of the overall optimization process. In this paper, we show that SVMs provide a significant improvement in performance on a static pattern classification task based on the Deterding vowel data. We also describe an application of SVMs to large vocabulary speech recognition, and demonstrate an improvement in error rate on a continuous alphadigit task (OGI Aphadigits) and a large vocabulary conversational speech task (Switchboard). Issues related to the development and optimization of an SVM/HMM hybrid system are discussed.

Electronically steerable arrays of microphones have avariety of uses in speech data ac-quisition systems. Applications include teleconferencing, speech recognition and speaker identification, sound capture in adverse environments, and biomedical devices for the hear-ing impaired. An array of microphones has a number of advantages over a single-microphone system. It may be electronically aimed to provide a high-quality signal from a desired source location while simultaneously attenuating interfering talkers and ambient noise, does not necessitate local placement of transducers or encumber the talker with a hand-held or head-mounted microphone, and does not require physical movement to alter its direction of reception. Additionally, it has capabilities that a single microphone does not; namely automatic detection, localization, and tracking of active talkers in its receptive area. A fundamental requirement of sensor array systems is the ability to locate and track a speech source. An accurate fix on the primary talker, as well as knowledge of any interfering talkers or coherent noise sources, is necessary to effectively steer the array. Source location data may also be used for purposes other than beamforming; e.g. aiming a camera in a video-conferencing system. In addition to high accuracy, the location estimator must be

We present a new model-based bundle adjustment algorithm to recover the 3D model of a scene/object from a sequence of images with unknown motions. Instead of representing scene/object by a collection of isolated 3D features (usually points), our algorithm uses a surface controlled by a small set of parameters. Compared with previous modelbased approaches, our approach has the following advantages. First, instead of using the model space as a regularizer, we directly use it as our search space, thus resulting in a more elegant formulation with fewer unknowns and fewer equations. Second, our algorithm automatically associates tracked points with their correct locations on the surfaces, thereby eliminating the need for a prior 2D-to-3D association. Third, regarding face modeling, we use a very small set of face metrics (meaningful deformations) to parameterize the face geometry, resulting in a smaller search space and a better posed system. Experiments with both synthetic and real data show that this new algorithm is faster, more accurate and more stable than existing ones. Keywords: Bundle adjustment, model-based bundle adjustment, model acquisition, structure from motion, face modeling. 1.

this paper nonlinear data fitting problems which have as their underlying model a linear combination of nonlinear functions. More generally, one can also consider that there are two sets of unknown parameters, where one set is dependent on the other and can be explicitly eliminated. Models of this type are very common and we will show a variety of applications in different fields. Inasmuch as many inverse problems can be viewed as nonlinear data fitting problems, this material will be of interest to a wide cross-section of researchers and practitioners in parameter, material or system identification, signal analysis, the analysis of spectral data, medical and biological imaging, neural networks, robotics, telecommunications and model order reduction, to name a few

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