Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Sparse Online Low-Rank Projection and Outlier Rejection (SOLO) for 3-D
  Rigid-Body Motion Registration   Motivated by an emerging theory of robust low-rank matrix representation, in
this paper, we introduce a novel solution for online rigid-body motion
registration. The goal is to develop algorithmic techniques that enable a
robust, real-time motion registration solution suitable for low-cost, portable
3-D camera devices. Assuming 3-D image features are tracked via a standard
tracker, the algorithm first utilizes Robust PCA to initialize a low-rank shape
representation of the rigid body. Robust PCA finds the global optimal solution
of the initialization, while its complexity is comparable to singular value
decomposition. In the online update stage, we propose a more efficient
algorithm for sparse subspace projection to sequentially project new feature
observations onto the shape subspace. The lightweight update stage guarantees
the real-time performance of the solution while maintaining good registration
even when the image sequence is contaminated by noise, gross data corruption,
outlying features, and missing data. The state-of-the-art accuracy of the
solution is validated through extensive simulation and a real-world experiment,
while the system enjoys one to two orders of magnitude speed-up compared to
well-established RANSAC solutions. The new algorithm will be released online to
aid peer evaluation.

14
The categories of this paper are: math-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: bayes-an
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The categories of this paper are: eess
27
The categories of this paper are: comp-gas
32
The categories of this paper are: atom-ph
25
The categories of this paper are: patt-sol
35
The categories of this paper are: mtrl-th
0
The categories of this paper are: hep-ph
6
The categories of this paper are: astro-ph
8
The categories of this paper are: hep-ex
34
The categories of this paper are: chem-ph
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The categories of this paper are: hep-lat
3
The categories of this paper are: physics
29
The categories of this paper are: funct-an
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The categories of this paper are: acc-phys