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- W4299807275 abstract "Gaussian mixture alignment is a family of approaches that are frequently used for robustly solving the point-set registration problem. However, since they use local optimisation, they are susceptible to local minima and can only guarantee local optimality. Consequently, their accuracy is strongly dependent on the quality of the initialisation. This paper presents the first globally-optimal solution to the 3D rigid Gaussian mixture alignment problem under the L2 distance between mixtures. The algorithm, named GOGMA, employs a branch-and-bound approach to search the space of 3D rigid motions SE(3), guaranteeing global optimality regardless of the initialisation. The geometry of SE(3) was used to find novel upper and lower bounds for the objective function and local optimisation was integrated into the scheme to accelerate convergence without voiding the optimality guarantee. The evaluation empirically supported the optimality proof and showed that the method performed much more robustly on two challenging datasets than an existing globally-optimal registration solution." @default.
- W4299807275 created "2022-10-03" @default.
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- W4299807275 date "2016-03-01" @default.
- W4299807275 modified "2023-09-27" @default.
- W4299807275 title "GOGMA: Globally-Optimal Gaussian Mixture Alignment" @default.
- W4299807275 doi "https://doi.org/10.48550/arxiv.1603.00150" @default.
- W4299807275 hasPublicationYear "2016" @default.
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