Theoretical Analysis for Expectation-Maximization-Based Multi-Model 3D Registration

arXiv:2405.08991v1 Announce Type: new
Abstract: We perform detailed theoretical analysis of an expectation-maximization-based algorithm recently proposed in for solving a variation of the 3D registration problem, named multi-model 3D registration. Despite having shown superior empirical results, did not theoretically justify the conditions under which the EM approach converges to the ground truth. In this project, we aim to close this gap by establishing such conditions. In particular, the analysis revolves around the usage of probabilistic tail bounds that are developed …

abstract algorithm analysis arxiv cs.cv cs.ro expectation-maximization registration results truth type variation