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, the authors 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.