In machine learning, support vector machines are supervised learning models with associated learning algorithms that analyze data for classification and regression analysis. Developed at AT&T Bell Laboratories by Vladimir Vapnik with colleagues SVMs are one of the most robust prediction methods, being based on statistical learning frameworks or VC theory proposed by Vapnik and Chervonenkis (1974). Given a set of training examples, each marked as belonging to one of two categories, an SVM training algorithm builds a model that assigns new examples to one category or the other, making it a non-probabilistic binary linear classifier. SVM maps training examples to points in space so as to maximise the width of the gap between the two categories. New examples are then mapped into that same space and predicted to belong to a category based on which side of the gap they fall.
For statistics and control theory, Kalman filtering, also known as linear quadratic estimation (LQE), is an algorithm that uses a series of measurements observed over time, including statistical noise and other inaccuracies, and produces estimates of unknown variables that tend to be more accurate than those based on a single measurement alone, by estimating a joint probability distribution over the variables for each timeframe. The filter is named after Rudolf E. Kálmán, who was one of the primary developers of its theory.
In statistics, the mean squared error (MSE) or mean squared deviation (MSD) of an estimator measures the average of the squares of the errors—that is, the average squared difference between the estimated values and the actual value. MSE is a risk function, corresponding to the expected value of the squared error loss. The fact that MSE is almost always strictly positive is because of randomness or because the estimator does not account for information that could produce a more accurate estimate. In machine learning, specifically empirical risk minimization, MSE may refer to the empirical risk, as an estimate of the true MSE.
A 3D projection is a design technique used to display a three-dimensional (3D) object on a two-dimensional (2D) surface. These projections rely on visual perspective and aspect analysis to project a complex object for viewing capability on a simpler plane.
In statistics, a confidence region is a multi-dimensional generalization of a confidence interval. It is a set of points in an n-dimensional space, often represented as an ellipsoid around a point which is an estimated solution to a problem, although other shapes can occur.
The scale-invariant feature transform (SIFT) is a computer vision algorithm to detect, describe, and match local features in images, invented by David Lowe in 1999. Applications include object recognition, robotic mapping and navigation, image stitching, 3D modeling, gesture recognition, video tracking, individual identification of wildlife and match moving.
In statistics, ordinary least squares (OLS) is a type of linear least squares method for choosing the unknown parameters in a linear regression model by the principle of least squares: minimizing the sum of the squares of the differences between the observed dependent variable in the input dataset and the output of the (linear) function of the independent variable.
Least mean squares (LMS) algorithms are a class of adaptive filter used to mimic a desired filter by finding the filter coefficients that relate to producing the least mean square of the error signal. It is a stochastic gradient descent method in that the filter is only adapted based on the error at the current time. It was invented in 1960 by Stanford University professor Bernard Widrow and his first Ph.D. student, Ted Hoff, based on their research in single-layer neural networks (ADALINE). Specifically, they used gradient descent to train ADALINE to recognize patterns, and called the algorithm "delta rule". They then applied the rule to filters, resulting in the LMS algorithm.
Weighted least squares (WLS), also known as weighted linear regression, is a generalization of ordinary least squares and linear regression in which knowledge of the unequal variance of observations (heteroscedasticity) is incorporated into the regression. WLS is also a specialization of generalized least squares, when all the off-diagonal entries of the covariance matrix of the errors, are null.
The partition of sums of squares is a concept that permeates much of inferential statistics and descriptive statistics. More properly, it is the partitioning of sums of squared deviations or errors. Mathematically, the sum of squared deviations is an unscaled, or unadjusted measure of dispersion. When scaled for the number of degrees of freedom, it estimates the variance, or spread of the observations about their mean value. Partitioning of the sum of squared deviations into various components allows the overall variability in a dataset to be ascribed to different types or sources of variability, with the relative importance of each being quantified by the size of each component of the overall sum of squares.
In computer vision, the fundamental matrix is a 3×3 matrix which relates corresponding points in stereo images. In epipolar geometry, with homogeneous image coordinates, x and x′, of corresponding points in a stereo image pair, Fx describes a line on which the corresponding point x′ on the other image must lie. That means, for all pairs of corresponding points holds
In Euclidean geometry, the intersection of a line and a line can be the empty set, a point, or another line. Distinguishing these cases and finding the intersection have uses, for example, in computer graphics, motion planning, and collision detection.
In computer vision, triangulation refers to the process of determining a point in 3D space given its projections onto two, or more, images. In order to solve this problem it is necessary to know the parameters of the camera projection function from 3D to 2D for the cameras involved, in the simplest case represented by the camera matrices. Triangulation is sometimes also referred to as reconstruction or intersection.
In photogrammetry and computer stereo vision, bundle adjustment is simultaneous refining of the 3D coordinates describing the scene geometry, the parameters of the relative motion, and the optical characteristics of the camera(s) employed to acquire the images, given a set of images depicting a number of 3D points from different viewpoints. Its name refers to the geometrical bundles of light rays originating from each 3D feature and converging on each camera's optical center, which are adjusted optimally according to an optimality criterion involving the corresponding image projections of all points.
In statistics, the projection matrix, sometimes also called the influence matrix or hat matrix, maps the vector of response values to the vector of fitted values. It describes the influence each response value has on each fitted value. The diagonal elements of the projection matrix are the leverages, which describe the influence each response value has on the fitted value for that same observation.
In statistics and in particular in regression analysis, leverage is a measure of how far away the independent variable values of an observation are from those of the other observations. High-leverage points, if any, are outliers with respect to the independent variables. That is, high-leverage points have no neighboring points in space, where is the number of independent variables in a regression model. This makes the fitted model likely to pass close to a high leverage observation. Hence high-leverage points have the potential to cause large changes in the parameter estimates when they are deleted i.e., to be influential points. Although an influential point will typically have high leverage, a high leverage point is not necessarily an influential point. The leverage is typically defined as the diagonal elements of the hat matrix.
Linear least squares (LLS) is the least squares approximation of linear functions to data. It is a set of formulations for solving statistical problems involved in linear regression, including variants for ordinary (unweighted), weighted, and generalized (correlated) residuals. Numerical methods for linear least squares include inverting the matrix of the normal equations and orthogonal decomposition methods.
Kernel density estimation is a nonparametric technique for density estimation i.e., estimation of probability density functions, which is one of the fundamental questions in statistics. It can be viewed as a generalisation of histogram density estimation with improved statistical properties. Apart from histograms, other types of density estimators include parametric, spline, wavelet and Fourier series. Kernel density estimators were first introduced in the scientific literature for univariate data in the 1950s and 1960s and subsequently have been widely adopted. It was soon recognised that analogous estimators for multivariate data would be an important addition to multivariate statistics. Based on research carried out in the 1990s and 2000s, multivariate kernel density estimation has reached a level of maturity comparable to its univariate counterparts.
3D reconstruction from multiple images is the creation of three-dimensional models from a set of images. It is the reverse process of obtaining 2D images from 3D scenes.
In computer vision, pattern recognition, and robotics, point-set registration, also known as point-cloud registration or scan matching, is the process of finding a spatial transformation that aligns two point clouds. The purpose of finding such a transformation includes merging multiple data sets into a globally consistent model, and mapping a new measurement to a known data set to identify features or to estimate its pose. Raw 3D point cloud data are typically obtained from Lidars and RGB-D cameras. 3D point clouds can also be generated from computer vision algorithms such as triangulation, bundle adjustment, and more recently, monocular image depth estimation using deep learning. For 2D point set registration used in image processing and feature-based image registration, a point set may be 2D pixel coordinates obtained by feature extraction from an image, for example corner detection. Point cloud registration has extensive applications in autonomous driving, motion estimation and 3D reconstruction, object detection and pose estimation, robotic manipulation, simultaneous localization and mapping (SLAM), panorama stitching, virtual and augmented reality, and medical imaging.
