Journal
IEEE TRANSACTIONS ON PATTERN ANALYSIS AND MACHINE INTELLIGENCE
Volume 39, Issue 4, Pages 758-772Publisher
IEEE COMPUTER SOC
DOI: 10.1109/TPAMI.2016.2631531
Keywords
Robust regression; global optimisation; graph and tree search strategies
Funding
- ARC grants [DP130102524, DE130101775, DP160103490]
- Australian Research Council [DE130101775] Funding Source: Australian Research Council
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Maximum consensus is one of the most popular criteria for robust estimation in computer vision. Despite its widespread use, optimising the criterion is still customarily done by randomised sample-and-test techniques, which do not guarantee optimality of the result. Several globally optimal algorithms exist, but they are too slow to challenge the dominance of randomised methods. Our work aims to change this state of affairs by proposing an efficient algorithm for global maximisation of consensus. Under the framework of LP-type methods, we show how consensus maximisation for a wide variety of vision tasks can be posed as a tree search problem. This insight leads to a novel algorithm based on A* search. We propose efficient heuristic and support set updating routines that enable A* search to efficiently find globally optimal results. On common estimation problems, our algorithm is much faster than previous exact methods. Our work identifies a promising direction for globally optimal consensus maximisation.
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