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Elif Tosun
Honors Thesis Presentation
Advisor: Ileana Streinu
May 1st, 2002
Outline
Motivation
General Problem
Some Definitions
Main Problems of Interest
Background in Rigidity
Solutions in 2D
Further Work
Summary
Motivation:
MIT City Scanning Project
Goal: To reconstruct a 3D model of an
urban environment using numerous
images.
Motivation: MIT City Project
Method:
– Robot with a mounted hemispherical camera
– Images acquired at different *unknown*
positions of an urban environment
– Images put together to get “image feature
points” using methods in Computer Vision and
Computer Graphics.
A corner may
be an image
feature point
Method (Cont’d):
– Slopes between cameras and image features
are inferred from use of hemispherical
cameras with known local orientations.
Direction Network:
7 (=3+4) vertices
13 edges
Direction Network?
Notes:
1. We don’t treat image features and camera
positions differently. Both sets together form the
set of vertices V of G.
2. Location of a subset of vertices is needed to fix a
frame of reference.
Definitions
Realization of a direction network: A
geometric embedding of G of D.
– i.e. set of points P s.t. if (ij)E then the
slope between points pi and pj is sij
Definitions
Realization of a direction network: A
geometric embedding of G of D.
– i.e. set of points P s.t. if (ij)E then the
slope between points pi and pj is sij
y-axis
(0,0) x-axis
Definitions
Mixed “direction and length” network: A direction network
of the following form:
MD = (V, v1, E1, E2, S, L)
where:
E1 = set of edges for which slopes are given
E2 = set of edges for which lengths are given
S = {se: se is the slope for edge e E1}
L = {le: le is the length for edge e E2}
v1 = a unique vertex that is pinned down
(at origin)
How to solve for an MD system
(yj-yi) – sij(xj-xi) = 0
B) And associate a quadratic equation to each
length information
It has a parallel
redrawing!
Over-determined direction network: A
direction network where there are more
edges than needed to have a unique
solution:
Non-realizable direction network: A
direction network with no solution where
the system is over-determined and the
constraints are incompatible
Main Problems
A flexible framework
(infinitesimal rigidity – velocities)
Fixed Length Rigidity:
Definitions
A minimally rigid framework
A flexible framework
(infinitesimal rigidity – velocities)
Fixed Length Rigidity:
Definitions
An over-braced framework
An unrealizable framework
Fixed Length vs. Fixed Direction
Framework Direction Network
Minimally Rigid Tight
Flexible Loose
Fixed Length vs. Fixed Direction
Over-braced Over-determined
Unrealizable Unrealizable
Fixed Length vs. Fixed Direction
Find a non-trivial set Find point coordinates
of velocities
Rigidity Matrix (M)
(2nxm). Parallel Redrawing
Info on derived from Matrix (M) (2nxm).
point coordinates Info on slopes
Fixed Length vs. Fixed Direction
Solution: Mv = b Solution: Mv = b
V = column vector of unknowns, b = column vector of 0s.
Why? (fixed rods, Why? (line equations)
perpendicular velocity (xi-xj)mij –(yi-yj) = 0
vectors)
(pi-pj).(vi-vj) = 0 pj
mij
pi
Fixed Length vs. Fixed Direction
Solution: Mv = b Solution: Mv = b
V = column vector of unknowns, b = column vector of 0s.
Why? (fixed rods, Why? (line equations)
perp. velocity) (xi-xj)mij –(yi-yj) = 0
(pi-pj).(vi-vj) = 0
pj
mij
pi
Rigidity in the Plane:
Combinatorial Rigidity
Based on underlying graph, no
numeric data
Laman’s Theorem:
Given a minimally rigid graph G=(V, E) with n
vertices, m edges:
(i) m = 2n-3
(ii) For every sub graph G’ of k vertices
has <= 2k-3 edges
Rigidity in the Plane:
Combinatorial Rigidity
Based on underlying graph, no
numeric data
Laman’s Theorem:
Given a minimally rigid graph G=(V, E) with n
vertices, m edges:
(i) m = 2n-3
(ii) For every sub graph G’ of k vertices
has <= 2k-3 edges
Generic Rigidity & Tightness
A generic minimally rigid framework(or
tight dir. network) : minimally rigid (or
tight) for generic positions of points.
Generic Non-generic
Generic Rigidity & Tightness
A generic minimally rigid framework(or
tight dir. network) : minimally rigid (or
tight) for generic positions of points.
Generic Non-generic
Solution to Problem 1 Given a direction
network, decide if
(Decision Problem) tight or not
Geometric Approach :
Using parallel redrawing matrix
Mathematica Notebook
Decision Problem:
Combinatorial Approach: Sugihara’s Alg.
Complexity
O(n1.5).O(n2) =O(n 3.5)
Solution to Problem 2
(Extension)
Problem: Given an under-determined
direction network, find a set of edges to
extend it to a tight graph (if possible).
Extension Problem
The Algorithm
Natural Approach: A Greedy Algorithm
Add one edge at a time, use “decision”
algorithm to test
Proof of Correctness!
Matroid Theory and Rigidity
Definition:
A matroid is an ordered pair M=(S, l) satisfying
the following conditions
1. S is a finite non empty set
2. l is a non empty family of subsets of S
called the independent subsets, s.t. if B l
and AB, then A l
3. If A l, and |A|<|B|, then there exists an elt
x (B-a) s.t. A {x} l
Matroid Theory and Rigidity
2 Important Properties:
1. Result by Sugihara:
“Frameworks demonstrate
matroidal properties.”
A A B A
B
D D D
Further Work
Motivating problem is in 3D.
Our algorithms…
– Emphasis not on efficiency but to show
that they are implementable for the sake of
experimentation
…and implementations
– Emphasis was on underlying theory. Used
what was already available to us
(Mathematica)
Summary
Reformulation of Problem
Summary
Reformulation of Problem
Underlying Theory
Summary
Reformulation of Problem
Underlying Theory
Implementations
Credits
Seth Teller, for suggesting the problem
Ruth Haas,
Brigitte Servatius,
Jack Snoeyink,
Ileana Streinu, and
Walter Whiteley , for their ideas and references
Special Thanks…
Ileana Streinu
Joseph O’Rourke
Smith CS Dept
Friends and Family
QUESTIONS
?