Robust Model Reasoning and Fitting via Dual Sparsity Pursuit

Published: 21 Sept 2023, Last Modified: 02 Nov 2023NeurIPS 2023 spotlightEveryoneRevisionsBibTeX
Keywords: Model reasoning; Model fitting; Outliers; Sparse subspace learning; Feature matching
TL;DR: Dual Sparsity Pursuit
Abstract: In this paper, we contribute to solving a threefold problem: outlier rejection, true model reasoning and parameter estimation with a unified optimization modeling. To this end, we first pose this task as a sparse subspace recovering problem, to search a maximum of independent bases under an over-embedded data space. Then we convert the objective into a continuous optimization paradigm that estimates sparse solutions for both bases and errors. Wherein a fast and robust solver is proposed to accurately estimate the sparse subspace parameters and error entries, which is implemented by a proximal approximation method under the alternating optimization framework with the ``optimal'' sub-gradient descent. Extensive experiments regarding known and unknown model fitting on synthetic and challenging real datasets have demonstrated the superiority of our method against the state-of-the-art. We also apply our method to multi-class multi-model fitting and loop closure detection, and achieve promising results both in accuracy and efficiency. Code is released at:
Supplementary Material: zip
Submission Number: 2510