We consider several problems related to packing forests in graphs. The first one is to find \(k\) edge-disjoint forests in a directed graph \(G\) of maximal size such that the indegree of each vertex in these forests is at most \(k\). We describe a min-max characterization for this problem and show that it can be solved in almost linear time for fixed \(k\), extending the algorithm of [Gabow, 1995]. Specifically, the complexity is \(O(k\delta m\log n)\), where \(n,m\) are the number of vertices and edges in \(G\) respectively, and \(\delta = \max\{1, k - k_G\}\), where \(k_G\) is the edge connectivity of the graph. Using our solution to this problem, we improve complexities for two existing applications:

The computational equivalence between approximate counting and sampling is well established for polynomial-time algorithms. The most efficient general reduction from counting to sampling is based on simulated annealing. In this approach, the counting problem is formulated as estimating the ratio Q = Z(βmax)/Z(βmin) between partition functions Z(β) = Σx∈Ω exp(βH(x)) of Gibbs distributions μβ over Ω with Hamiltonian H, given access to a sampling oracle for μβ at any β ∈ [βmin, βmax]. The sample complexity (measured by the number of oracle calls) is typically expressed in terms of q and h, which respectively bound ln Q and H. The best upper bound achieved by known annealing algorithms with relative error ε is O(qε−2 log h). However, all known algorithms attaining this near-optimal complexity are inherently sequential, or adaptive: the queried parameters β depend on previous samples.

A central problem in computational statistics is to convert a procedure for sampling combinatorial objects into a procedure for counting those objects, and vice versa. We consider sampling problems coming from Gibbs distributions , which are families of probability distributions over a discrete space \(\Omega\) with probability mass function of the form \(\mu^{\Omega}_{\beta}(\omega)\propto e^{\beta H(\omega)}\) for \(\beta\) in an interval \([\beta_{\min},\beta_{\max}]\) and \(H(\omega)\in\{0\}\cup[1,n]\) . Two important parameters are the partition function , which is the normalization factor \(Z(\beta)=\sum_{\omega\in\Omega}e^{\beta H(\omega)}\) and the vector of pre-image counts \(c_{x}=|H^{-1}(x)|\) . We develop black-box sampling algorithms to estimate the counts using roughly \(\tilde{O}(\frac{n^{2}}{\varepsilon^{2}})\) samples for integer-valued distributions and \(\tilde{O}(\frac{q}{\varepsilon^{2}})\) samples for general distributions, where \(q=\log\frac{Z(\beta_{\max})}{Z(\beta_{\min})}\) (ignoring some second-order terms and parameters). We show this is optimal up to logarithmic factors. We illustrate with improved algorithms for counting connected subgraphs, independent sets, and perfect matchings. As a key subroutine, we estimate all values of the partition function using \(\tilde{O}(\frac{n^{2}}{\varepsilon^{2}})\) samples for integer-valued distributions and \(\tilde{O}(\frac{q}{\varepsilon^{2}})\) samples for general distributions. This improves over a prior algorithm of Huber (2015) which computes a single point estimate \(Z(\beta_{\max})\) and which uses a slightly larger amount of samples. We show matching lower bounds, demonstrating this complexity is optimal as a function of \(n\) and \(q\) up to logarithmic terms.

Currently, the best known tradeoff between approximation ratio and complexity for the Sparsest Cut problem is achieved by the algorithm in Sherman [FOCS, 2009]: It computes \(O(\sqrt{(\log n)/\varepsilon})\) -approximation using \(O(n^{\varepsilon}\log^{O(1)}n)\) maxflows for any \(\varepsilon\in[\Theta(1/\log n),\Theta(1)]\) . It works by solving the SDP relaxation of Arora et al. [STOC, 2004] using the Multiplicative Weights (MW) Update algorithm of Arora and Kale [JACM, 2016]. To implement one MW step, Sherman approximately solves a multicommodity flow problem using another application of MW. Nested MW steps are solved via a certain “chaining” algorithm that combines results of multiple calls to the maxflow algorithm. We present an alternative approach that avoids solving the multicommodity flow problem and instead computes “violating paths.” This simplifies Sherman’s algorithm by removing a need for a nested application of MW and also allows parallelization: We show how to compute \(O(\sqrt{(\log n)/\varepsilon})\) -approximation via \(O(\log^{O(1)}n)\) maxflows using \(O(n^{\varepsilon})\) processors. We also revisit Sherman’s chaining algorithm and present a simpler version together with a new analysis.

Currently, the best known tradeoff between approximation ratio and complexity for the Sparsest Cut problem is achieved by the algorithm in [Sherman, FOCS 2009]: it computes O(√(log n)/ε)-approximation using O(nε logO(1) n) maxflows for any ε∈[Θ(1/log n),Θ(1)]. It works by solving the SDP relaxation of [Arora-Rao-Vazirani, STOC 2004] using the Multiplicative Weights Update algorithm (MW) of [Arora-Kale, JACM 2016]. To implement one MW step, Sherman approximately solves a multicommodity flow problem using another application of MW. Nested MW steps are solved via a certain "chaining" algorithm that combines results of multiple calls to the maxflow algorithm.

We consider the problem of solving LP relaxations of MAP-MRF inference problems, and in particular the method proposed recently in [16], [35]. As a key computational subroutine, it uses a variant of the Frank-Wolfe (FW) method to minimize a smooth convex function over a combinatorial polytope. We propose an efficient implementation of this subroutine based on in-face Frank-Wolfe directions, introduced in [4] in a different context. More generally, we define an abstract data structure for a combinatorial subproblem that enables in-face FW directions, and describe its specialization for tree-structured MAP-MRF inference subproblems. Experimental results indicate that the resulting method is the current state-of-art LP solver for some classes of problems. Our code is available at pub.ist.ac.at/~vnk/papers/IN-FACE-FW.html.

A central problem in computational statistics is to convert a procedure for sampling combinatorial objects into a procedure for counting those objects, and vice versa. We will consider sampling problems which come from Gibbs distributions, which are families of probability distributions over a discrete space Ω with probability mass function of the form μ^Ω_β(ω) ∝ e^{β H(ω)} for β in an interval [β_min, β_max] and H(ω) ∈ {0} ∪ [1, n]. The partition function is the normalization factor Z(β) = ∑_{ω ∈ Ω} e^{β H(ω)}, and the log partition ratio is defined as q = (log Z(β_max))/Z(β_min) We develop a number of algorithms to estimate the counts c_x using roughly Õ(q/ε²) samples for general Gibbs distributions and Õ(n²/ε²) samples for integer-valued distributions (ignoring some second-order terms and parameters), We show this is optimal up to logarithmic factors. We illustrate with improved algorithms for counting connected subgraphs and perfect matchings in a graph.

We consider two models for the sequence labeling (tagging) problem. The first one is a Pattern-Based Conditional Random Field (PB), in which the energy of a string (chain labeling) x=x1⁢…⁢xn∈Dn is a sum of terms over intervals [i,j] where each term is non-zero only if the substring xi⁢…⁢xj equals a prespecified word w∈Λ. The second model is a Weighted Context-Free Grammar (WCFG) frequently used for natural language processing. PB and WCFG encode local and non-local interactions respectively, and thus can be viewed as complementary. We propose a Grammatical Pattern-Based CRF model (GPB) that combines the two in a natural way. We argue that it has certain advantages over existing approaches such as the Hybrid model of Benedí and Sanchez that combines N-grams and WCFGs. The focus of this paper is to analyze the complexity of inference tasks in a GPB such as computing MAP. We present a polynomial-time algorithm for general GPBs and a faster version for a special case that we call Interaction Grammars.

The Lovász Local Lemma (LLL) is a powerful tool in probabilistic combinatorics which can be used to establish the existence of objects that satisfy certain properties. The breakthrough paper of Moser & Tardos and follow-up works revealed that the LLL has intimate connections with a class of stochastic local search algorithms for finding such desirable objects. In particular, it can be seen as a sufficient condition for this type of algorithms to converge fast. Besides conditions for convergence, many other natural questions can be asked about algorithms; for instance, "are they parallelizable?", "how many solutions can they output?", "what is the expected "weight" of a solution?". These questions and more have been answered for a class of LLL-inspired algorithms called commutative. In this paper we introduce a new, very natural and more general notion of commutativity (essentially matrix commutativity) which allows us to show a number of new refined properties of LLL-inspired local search algorithms with significantly simpler proofs.

We study a class of convex-concave saddle-point problems of the form $\min_x\max_y ⟨Kx,y⟩+f_{\cal P}(x)-h^*(y)$ where $K$ is a linear operator, $f_{\cal P}$ is the sum of a convex function $f$ with a Lipschitz-continuous gradient and the indicator function of a bounded convex polytope ${\cal P}$, and $h^\ast$ is a convex (possibly nonsmooth) function. Such problem arises, for example, as a Lagrangian relaxation of various discrete optimization problems. Our main assumptions are the existence of an efficient {\em linear minimization oracle} ($lmo$) for $f_{\cal P}$ and an efficient {\em proximal map} ($prox$) for $h^*$ which motivate the solution via a blend of proximal primal-dual algorithms and Frank-Wolfe algorithms. In case $h^*$ is the indicator function of a linear constraint and function $f$ is quadratic, we show a $O(1/n^2)$ convergence rate on the dual objective, requiring $O(n \log n)$ calls of $lmo$. If the problem comes from the constrained optimization problem $\min_{x\in\mathbb R^d}\{f_{\cal P}(x)\:|\:Ax-b=0\}$ then we additionally get bound $O(1/n^2)$ both on the primal gap and on the infeasibility gap. In the most general case, we show a $O(1/n)$ convergence rate of the primal-dual gap again requiring $O(n\log n)$ calls of $lmo$. To the best of our knowledge, this improves on the known convergence rates for the considered class of saddle-point problems. We show applications to labeling problems frequently appearing in machine learning and computer vision.

We present a new proximal bundle method for Maximum-A-Posteriori (MAP) inference in structured energy minimization problems. The method optimizes a Lagrangean relaxation of the original energy minimization problem using a multi plane block-coordinate Frank-Wolfe method that takes advantage of the specific structure of the Lagrangean decomposition. We show empirically that our method outperforms state-of-the-art Lagrangean decomposition based algorithms on some challenging Markov Random Field, multi-label discrete tomography and graph matching problems.

A Valued Constraint Satisfaction Problem (VCSP) provides a common framework that can express a wide range of discrete optimization problems. A VCSP instance is given by a finite set of variables, a finite domain of labels, and an objective function to be minimized. This function is represented as a sum of terms where each term depends on a subset of the variables. To obtain different classes of optimization problems, one can restrict all terms to come from a fixed set $Γ$ of cost functions, called a language. Recent breakthrough results have established a complete complexity classification of such classes with respect to language $Γ$: if all cost functions in $Γ$ satisfy a certain algebraic condition then all $Γ$-instances can be solved in polynomial time, otherwise the problem is NP-hard. Unfortunately, testing this condition for a given language $Γ$ is known to be NP-hard. We thus study exponential algorithms for this meta-problem. We show that the tractability condition of a finite-valued language $Γ$ can be tested in $O(\sqrt[3]{3}^{\,|D|}\cdot poly(size(Γ)))$ time, where $D$ is the domain of $Γ$ and $poly(\cdot)$ is some fixed polynomial. We also obtain a matching lower bound under the Strong Exponential Time Hypothesis (SETH). More precisely, we prove that for any constant $δ<1$ there is no $O(\sqrt[3]{3}^{\,δ|D|})$ algorithm, assuming that SETH holds.

We develop a framework for the rigorous analysis of focused stochastic local search algorithms. These algorithms search a state space by repeatedly selecting some constraint that is violated in the current state and moving to a random nearby state that addresses the violation, while (we hope) not introducing many new violations. An important class of focused local search algorithms with provable performance guarantees has recently arisen from algorithmizations of the Lovász local lemma (LLL), a nonconstructive tool for proving the existence of satisfying states by introducing a background measure on the state space. While powerful, the state transitions of algorithms in this class must be, in a precise sense, perfectly compatible with the background measure. In many applications this is a very restrictive requirement, and one needs to step outside the class. Here we introduce the notion of measure distortion and develop a framework for analyzing arbitrary focused stochastic local search algorithms, recovering LLL algorithmizations as the special case of no distortion. Our framework takes as input an arbitrary algorithm of such type and an arbitrary probability measure and shows how to use the measure as a yardstick of algorithmic progress, even for algorithms designed independently of the measure.

The main result of this article is a generalization of the classical blossom algorithm for finding perfect matchings. Our algorithm can efficiently solve Boolean CSPs where each variable appears in exactly two constraints (we call it edge CSP) and all constraints are even Δ-matroid relations (represented by lists of tuples). As a consequence of this, we settle the complexity classification of planar Boolean CSPs started by Dvořák and Kupec. Using a reduction to even Δ-matroids, we then extend the tractability result to larger classes of Δ-matroids that we call efficiently coverable . It properly includes classes that were known to be tractable before, namely, co-independent , compact , local , linear , and binary , with the following caveat: We represent Δ-matroids by lists of tuples, while the last two use a representation by matrices. Since an n × n matrix can represent exponentially many tuples, our tractability result is not strictly stronger than the known algorithm for linear and binary Δ-matroids.

We consider the problem of estimating the partition function $Z(\beta)=\sum_x \exp(-\beta H(x))$ of a Gibbs distribution with a Hamilton $H(\cdot)$, or more precisely the logarithm of the ratio $q=\ln Z(0)/Z(\beta)$. It has been recently shown how to approximate $q$ with high probability assuming the existence of an oracle that produces samples from the Gibbs distribution for a given parameter value in $[0,\beta]$. The current best known approach due to Huber (2015) uses $O(q\ln n\cdot[\ln q + \ln \ln n+\varepsilon^{-2}])$ oracle calls on average where $\varepsilon$ is the desired accuracy of approximation and $H(\cdot)$ is assumed to lie in $\{0\}\cup[1,n]$. We improve the complexity to $O(q\ln n\cdot\varepsilon^{-2})$ oracle calls. We also show that the same complexity can be achieved if exact oracles are replaced with approximate sampling oracles that are within $O(\frac{\varepsilon^2}{q\ln n})$ variation distance from exact oracles. Finally, we prove a lower bound of $\Omega(q\cdot \varepsilon^{-2})$ oracle calls under a natural model of computation.

The accuracy of information retrieval systems is often measured using complex loss functions such as the average precision (AP) or the normalized discounted cumulative gain (NDCG). Given a set of positive and negative samples, the parameters of a retrieval system can be estimated by minimizing these loss functions. However, the non-differentiability and non-decomposability of these loss functions does not allow for simple gradient based optimization algorithms. This issue is generally circumvented by either optimizing a structured hinge-loss upper bound to the loss function or by using asymptotic methods like the direct-loss minimization framework. Yet, the high computational complexity of loss-augmented inference, which is necessary for both the frameworks, prohibits its use in large training data sets. To alleviate this deficiency, we present a novel quicksort flavored algorithm for a large class of non-decomposable loss functions. We provide a complete characterization of the loss functions that are amenable to our algorithm, and show that it includes both AP and NDCG based loss functions. Furthermore, we prove that no comparison based algorithm can improve upon the computational complexity of our approach asymptotically. We demonstrate the effectiveness of our approach in the context of optimizing the structured hinge loss upper bound of AP and NDCG loss for learning models for a variety of vision tasks. We show that our approach provides significantly better results than simpler decomposable loss functions, while requiring a comparable training time.

The main result of this paper is a generalization of the classical blossom algorithm for finding perfect matchings. Our algorithm can efficiently solve Boolean CSPs where each variable appears in exactly two constraints (we call it edge CSP) and all constraints are even Δ-matroid relations (represented by lists of tuples). As a consequence of this, we settle the complexity classification of planar Boolean CSPs started by Dvořák and Kupec. Knowing that edge CSP is tractable for even Δ-matroid constraints allows us to extend the tractability result to a larger class of Δ-matroids that includes many classes that were known to be tractable before, namely co-independent, compact, local and binary.

We consider the recent formulation of the algorithmic Lovász Local Lemma [N. Harvey and J. Vondrák, in Proceedings of FOCS, 2015, pp. 1327--1345; D. Achlioptas and F. Iliopoulos, in Proceedings of SODA, 2016, pp. 2024--2038; D. Achlioptas, F. Iliopoulos, and V. Kolmogorov, A Local Lemma for Focused Stochastic Algorithms, arXiv preprint, 2018] for finding objects that avoid “bad features,” or “flaws.” It extends the Moser--Tardos resampling algorithm [R. A. Moser and G. Tardos, J. ACM, 57 (2010), 11] to more general discrete spaces. At each step the method picks a flaw present in the current state and goes to a new state according to some prespecified probability distribution (which depends on the current state and the selected flaw). However, the recent formulation is less flexible than the Moser--Tardos method since it requires a specific flaw selection rule, whereas the algorithm of Moser and Tardos allows an arbitrary rule (and thus can potentially be implemented more efficiently). We formulate a new “commutativity” condition and prove that it is sufficient for an arbitrary rule to work. It also enables an efficient parallelization under an additional assumption. We then show that existing resampling oracles for perfect matchings and permutations do satisfy this condition.

We consider the problem of minimizing the continuous valued total variation subject to different unary terms on trees and propose fast direct algorithms based on dynamic programming to solve these problems. We treat both the convex and the nonconvex case and derive worst-case complexities that are equal to or better than existing methods. We show applications to total variation based two dimensional image processing and computer vision problems based on a Lagrangian decomposition approach. The resulting algorithms are very efficient, offer a high degree of parallelism, and come along with memory requirements which are only in the order of the number of image pixels.

Structural support vector machines (SSVMs) are amongst the best performing methods for structured computer vision tasks, such as semantic image segmentation or human pose estimation. Training SSVMs, however, is computationally costly, because it requires repeated calls to a structured prediction subroutine (called max-oracle), which has to solve an optimization problem itself, e.g. a graph cut.

An instance of the Valued Constraint Satisfaction Problem (VCSP) is given by a finite set of variables, a finite domain of labels, and a sum of functions, each function depending on a subset of the variables. Each function can take finite values specifying costs of assignments of labels to its variables or the infinite value, which indicates infeasible assignments. The goal is to find an assignment of labels to the variables that minimizes the sum. We study (assuming that P ≠ NP) how the complexity of this very general problem depends on the set of functions allowed in the instances, the so-called constraint language. The case when all allowed functions take values in {0, ∞} corresponds to ordinary CSPs, where one deals only with the feasibility issue and there is no optimization. This case is the subject of the Algebraic CSP Dichotomy Conjecture predicting for which constraint languages CSPs are tractable and for which NP-hard. The case when all allowed functions take only finite values corresponds to finite-valued CSP, where the feasibility aspect is trivial and one deals only with the optimization issue. The complexity of finite-valued CSPs was fully classified by Thapper and Zivny. An algebraic necessary condition for tractability of a general-valued CSP with a fixed constraint language was recently given by Kozik and Ochremiak. As our main result, we prove that if a constraint language satisfies this algebraic necessary condition, and the feasibility CSP corresponding to the VCSP with this language is tractable, then the VCSP is tractable. The algorithm is a simple combination of the assumed algorithm for the feasibility CSP and the standard LP relaxation. As a corollary, we obtain that a dichotomy for ordinary CSPs would imply a dichotomy for general-valued CSPs.

Constraint Satisfaction Problem (CSP) is a fundamental algorithmic problem that appears in many areas of Computer Science. It can be equivalently stated as computing a homomorphism R → Γ between two relational structures, e.g. between two directed graphs. Analyzing its complexity has been a prominent research direction, especially for the fixed template CSPs where the right side Γ is fixed and the left side R is unconstrained. Far fewer results are known for the hybrid setting that restricts both sides simultaneously. It assumes that R belongs to a certain class of relational structures (called a structural restriction in this paper). We study which structural restrictions are effective, i.e. there exists a fixed template Γ (from a certain class of languages) for which the problem is tractable when R is restricted, and NP-hard otherwise. We provide a characterization for structural restrictions that are closed under inverse homomorphisms. The criterion is based on the chromatic number of a relational structure defined in this paper; it generalizes the standard chromatic number of a graph. As our main tool, we use the algebraic machinery developed for fixed template CSPs. To apply it to our case, we introduce a new construction called a “lifted language”. We also give a characterization for structural restrictions corresponding to minor-closed families of graphs, extend results to certain Valued CSPs (namely conservative valued languages), and state implications for (valued) CSPs with ordered variables and for the maximum weight independent set problem on some restricted families of graphs.

We propose a new family of message passing techniques for MAP estimation in graphical models which we call Sequential Reweighted Message Passing (SRMP). Special cases include well-known techniques such as Min-Sum Diffusion (MSD) and a faster Sequential Tree-Reweighted Message Passing (TRW-S). Importantly, our derivation is simpler than the original derivation of TRW-S, and does not involve a decomposition into trees. This allows easy generalizations. The new family of algorithms can be viewed as a generalization of TRW-S from pairwise to higher-order graphical models. We test SRMP on several real-world problems with promising results.

Let $D$, called the domain, be a fixed finite set and let $\Gamma$, called the valued constraint language, be a fixed set of functions of the form $f:D^m\to\mathbb{Q}\cup\{\infty\}$, where different functions might have different arity $m$. We study the valued constraint satisfaction problem parametrized by $\Gamma$, denoted by VCSP$(\Gamma)$. These are minimization problems given by $n$ variables and the objective function given by a sum of functions from $\Gamma$, each depending on a subset of the $n$ variables. For example, if $D=\{0,1\}$ and $\Gamma$ contains all ternary $\{0,\infty\}$-valued functions, VCSP($\Gamma$) corresponds to 3-SAT. More generally, if $\Gamma$ contains only $\{0,\infty\}$-valued functions, VCSP($\Gamma$) corresponds to CSP($\Gamma$). If $D=\{0,1\}$ and $\Gamma$ contains all ternary $\{0,1\}$-valued functions, VCSP($\Gamma$) corresponds to Min-3-SAT, in which the goal is to minimize the number of unsatisfied clauses in a 3-CNF instance. Finite-valued constraint languages contain functions that take on only rational values and not infinite values. Our main result is a precise algebraic characterization of valued constraint languages whose instances can be solved exactly by the basic linear programming relaxation (BLP). For a valued constraint language $\Gamma$, BLP is a decision procedure for $\Gamma$ if and only if $\Gamma$ admits a symmetric fractional polymorphism of every arity. For a finite-valued constraint language $\Gamma$, BLP is a decision procedure if and only if $\Gamma$ admits a symmetric fractional polymorphism of some arity, or equivalently, if $\Gamma$ admits a symmetric fractional polymorphism of arity 2. Using these results, we obtain tractability of several novel classes of problems, including problems over valued constraint languages that are (1) submodular on arbitrary lattices; (2) $k$-submodular on arbitrary finite domains; (3) weakly (and hence strongly) tree submodular on arbitrary trees.

Representation languages for coalitional games are a key research area in algorithmic game theory. There is an inherent tradeoff between how general a language is, allowing it to capture more elaborate games, and how hard it is computationally to optimize and solve such games. One prominent such language is the simple yet expressive Weighted Graph Games (WGGs) representation (Deng and Papadimitriou, 1994), which maintains knowledge about synergies between agents in the form of an edge weighted graph. We consider the problem of finding the optimal coalition structure in WGGs. The agents in such games are vertices in a graph, and the value of a coalition is the sum of the weights of the edges present between coalition members. The optimal coalition structure is a partition of the agents to coalitions, that maximizes the sum of utilities obtained by the coalitions. We show that finding the optimal coalition structure is not only hard for general graphs, but is also intractable for restricted families such as planar graphs which are amenable for many other combinatorial problems. We then provide algorithms with constant factor approximations for planar, minor-free and bounded degree graphs.

We introduce the M-modes problem for graphical models: predicting the M label configurations of highest probability that are at the same time local maxima of the probability landscape. M-modes have multiple possible applications: because they are intrinsically diverse, they provide a principled alternative to non-maximum suppression techniques for structured prediction, they can act as codebook vectors for quantizing the configuration space, or they can form component centers for mixture model approximation. We present two algorithms for solving the M-modes problem. The first algorithm solves the problem in polynomial time when the underlying graphical model is a simple chain. The second algorithm solves the problem for junction chains. In synthetic and real dataset, we demonstrate how M-modes can improve the performance of prediction. We also use the generated modes as a tool to understand the topography of the probability distribution of configurations, for example with relation to the training set size and amount of noise in the data.

The problem of minimizing the Potts energy function frequently occurs in computer vision applications. One way to tackle this NP-hard problem was proposed by Kovtun [19, 20]. It identifies a part of an optimal solution by running k maxflow computations, where k is the number of labels. The number of "labeled" pixels can be significant in some applications, e.g. 50-93% in our tests for stereo. We show how to reduce the runtime to O(log k) maxflow computations (or one parametric maxflow computation). Furthermore, the output of our algorithm allows to speed-up the subsequent alpha expansion for the unlabeled part, or can be used as it is for time-critical applications. To derive our technique, we generalize the algorithm of Felzenszwalb et al. [7] for Tree Metrics. We also show a connection to k-sub modular functions from combinatorial optimization, and discuss k-sub modular relaxations for general energy functions.

Energies with high-order non-sub modular interactions have been shown to be very useful in vision due to their high modeling power. Optimization of such energies, however, is generally NP-hard. A naive approach that works for small problem instances is exhaustive search, that is, enumeration of all possible labelings of the underlying graph. We propose a general minimization approach for large graphs based on enumeration of labelings of certain small patches. This partial enumeration technique reduces complex high-order energy formulations to pair wise Constraint Satisfaction Problems with unary costs (uCSP), which can be efficiently solved using standard methods like TRW-S. Our approach outperforms a number of existing state-of-the-art algorithms on well known difficult problems (e.g. curvature regularization, stereo, deconvolution), it gives near global minimum and better speed. Our main application of interest is curvature regularization. In the context of segmentation, our partial enumeration technique allows to evaluate curvature directly on small patches using a novel integral geometry approach.

We study the complexity of valued constraint satisfaction problems (VCSPs) parametrized by a constraint language , a fixed set of cost functions over a finite domain. An instance of the problem is specified by a sum of cost functions from the language and the goal is to minimize the sum. Under the unique games conjecture, the approximability of finite-valued VCSPs is well understood, see Raghavendra [2008]. However, there is no characterization of finite-valued VCSPs, let alone general-valued VCSPs, that can be solved exactly in polynomial time, thus giving insights from a combinatorial optimization perspective. We consider the case of languages containing all possible unary cost functions. In the case of languages consisting of only {0,∞}-valued cost functions (i.e., relations), such languages have been called conservative and studied by Bulatov [2003, 2011] and recently by Barto [2011]. Since we study valued languages, we call a language conservative if it contains all finite-valued unary cost functions. The computational complexity of conservative valued languages has been studied by Cohen et al. [2006] for languages over Boolean domains, by Deineko et al. [2008] for {0,1}-valued languages (a.k.a Max-CSP), and by Takhanov [2010a] for {0,∞}-valued languages containing all finite-valued unary cost functions (a.k.a. Min-Cost-Hom). We prove a Schaefer-like dichotomy theorem for conservative valued languages: if all cost functions in the language satisfy a certain condition (specified by a complementary combination of STP and MJN multimorphisms ), then any instance can be solved in polynomial time (via a new algorithm developed in this article), otherwise the language is NP-hard. This is the first complete complexity classification of general-valued constraint languages over non-Boolean domains. It is a common phenomenon that complexity classifications of problems over non-Boolean domains are significantly harder than the Boolean cases. The polynomial-time algorithm we present for the tractable cases is a generalization of the submodular minimization problem and a result of Cohen et al. [2008]. Our results generalize previous results by Takhanov [2010a] and (a subset of results) by Cohen et al. [2006] and Deineko et al. [2008]. Moreover, our results do not rely on any computer-assisted search as in Deineko et al. [2008], and provide a powerful tool for proving hardness of finite-valued and general-valued languages.

In this paper, we present a new approach for establishing correspondences between sparse image features related by an unknown nonrigid mapping and corrupted by clutter and occlusion, such as points extracted from images of different instances of the same object category. We formulate this matching task as an energy minimization problem by defining an elaborate objective function of the appearance and the spatial arrangement of the features. Optimization of this energy is an instance of graph matching, which is in general an NP-hard problem. We describe a novel graph matching optimization technique, which we refer to as dual decomposition (DD), and demonstrate on a variety of examples that this method outperforms existing graph matching algorithms. In the majority of our examples, DD is able to find the global minimum within a minute. The ability to globally optimize the objective allows us to accurately learn the parameters of our matching model from training examples. We show on several matching tasks that our learned model yields results superior to those of state-of-the-art methods.

We study the complexity of valued constraint satisfaction problems (VCSP) A problem from VCSP is characterised by a constraint language, a fixed set of cost functions over a finite domain. An instance of the problem is specified by a sum of cost functions from the language and the goal is to minimise the sum. Under the unique games conjecture, the approximability of finite-valued VCSPs is well-understood, see Raghavendra [FOCS'08]. However, there is no characterisation of finite-valued VCSPs, let alone general-valued VCSPs, that can be solved exactly in polynomial time, thus giving insights from a combinatorial optimisation perspective. We consider the case of languages containing all possible unary cost functions. In the case of languages consisting of only {0, ∞}-valued cost functions (i.e. relations) such languages have been called conservative and studied by Bulatov [LICS'03] and recently by Barto [LICS'11]. Since we study valued languages, we call a language conservative if it contains all finite-valued unary cost functions. The computational complexity of conservative valued languages has been studied by Cohen et al. [AIJ'06] for languages over Boolean domains, by Deineko et al. [JACM'08] for {0, 1}-valued languages (a.k.a Max-CSP), and by Takhanov [STACS'10] for {0, ∞} valued languages containing all finite-valued unary cost functions (a.k.a. Min-Cost-Hom). We prove a Schaefer-like dichotomy theorem for conservative valued languages: if all cost functions in the language satisfy a certain condition (specified by a complementary combination of STP and MJN multimorphisms), then any instance can be solved in polynomial time (via a new algorithm developed in this paper), otherwise the language is NP-hard. This is the first complete complexity classification of general-valued constraint languages over non-Boolean domains. It is a common phenomenon that complexity classifications of problems over non-Boolean domains is significantly harder than the Boolean case. The polynomial-time algorithm we present for the tractable cases is a generalisation of the submodular minimisation problem and a result of Cohen et al. [TCS'08]. Our results generalise previous results by Takhanov [STACS'10] and (a subset of results) by Cohen et al. [AIJ'06] and Deineko et al. [JACM'08]. Moreover, our results do not rely on any computer-assisted search as in Deineko et al. [JACM'08], and provide a powerful tool for proving hardness of finite-valued and general-valued languages.

In this paper we address the problem of finding the most probable state of discrete Markov random field (MRF) with associative pairwise terms. Although of practical importance, this problem is known to be NP-hard in general. We propose a new type of MRF decomposition, submodular decomposition (SMD). Unlike existing decomposition approaches SMD decomposes the initial problem into sub-problems corresponding to a specific class label while preserving the graph structure of each subproblem. Such decomposition enables us to take into account several types of global constraints in an efficient manner. We study theoretical properties of the proposed approach and demonstrate its applicability on a number of problems.

Cosegmentation is typically defined as the task of jointly segmenting “something similar” in a given set of images. Existing methods are too generic and so far have not demonstrated competitive results for any specific task. In this paper we overcome this limitation by adding two new aspects to cosegmentation: (1) the “something” has to be an object, and (2) the “similarity” measure is learned. In this way, we are able to achieve excellent results on the recently introduced iCoseg dataset, which contains small sets of images of either the same object instance or similar objects of the same class. The challenge of this dataset lies in the extreme changes in viewpoint, lighting, and object deformations within each set. We are able to considerably outperform several competitors. To achieve this performance, we borrow recent ideas from object recognition: the use of powerful features extracted from a pool of candidate object-like segmentations. We believe that our work will be beneficial to several application areas, such as image retrieval.

Consider a convex relaxation $\hat f$ of a pseudo-boolean function $f$. We say that the relaxation is {\em totally half-integral} if $\hat f(\bx)$ is a polyhedral function with half-integral extreme points $\bx$, and this property is preserved after adding an arbitrary combination of constraints of the form $x_i=x_j$, $x_i=1-x_j$, and $x_i=\gamma$ where $\gamma\in\{0,1,\frac{1}{2}\}$ is a constant. A well-known example is the {\em roof duality} relaxation for quadratic pseudo-boolean functions $f$. We argue that total half-integrality is a natural requirement for generalizations of roof duality to arbitrary pseudo-boolean functions. Our contributions are as follows. First, we provide a complete characterization of totally half-integral relaxations $\hat f$ by establishing a one-to-one correspondence with {\em bisubmodular functions}. Second, we give a new characterization of bisubmodular functions. Finally, we show some relationships between general totally half-integral relaxations and relaxations based on the roof duality.

Many interactive image segmentation approaches use an objective function which includes appearance models as an unknown variable. Since the resulting optimization problem is NP-hard the segmentation and appearance are typically optimized separately, in an EM-style fashion. One contribution of this paper is to express the objective function purely in terms of the unknown segmentation, using higher-order cliques. This formulation reveals an interesting bias of the model towards balanced segmentations. Furthermore, it enables us to develop a new dual decomposition optimization procedure, which provides additionally a lower bound. Hence, we are able to improve on existing optimizers, and verify that for a considerable number of real world examples we even achieve global optimality. This is important since we are able, for the first time, to analyze the deficiencies of the model. Another contribution is to establish a property of a particular dual decomposition approach which involves convex functions depending on foreground area. As a consequence, we show that the optimal decomposition for our problem can be computed efficiently via a parametric maxflow algorithm.

In recent years the Markov Random Field (MRF) has become the de facto probabilistic model for low-level vision applications. However, in a maximum a posteriori (MAP) framework, MRFs inherently encourage delta function marginal statistics. By contrast, many low-level vision problems have heavy tailed marginal statistics, making the MRF model unsuitable. In this paper we introduce a more general Marginal Probability Field (MPF), of which the MRF is a special, linear case, and show that convex energy MPFs can be used to encourage arbitrary marginal statistics. We introduce a flexible, extensible framework for effectively optimizing the resulting NP-hard MAP problem, based around dual-decomposition and a modified min-cost flow algorithm, and which achieves global optimality in some instances. We use a range of applications, including image denoising and texture synthesis, to demonstrate the benefits of this class of MPF over MRFs.

Graph cut is a popular technique for interactive image segmentation. However, it has certain shortcomings. In particular, graph cut has problems with segmenting thin elongated objects due to the ldquoshrinking biasrdquo. To overcome this problem, we propose to impose an additional connectivity prior, which is a very natural assumption about objects. We formulate several versions of the connectivity constraint and show that the corresponding optimization problems are all NP-hard. For some of these versions we propose two optimization algorithms: (i) a practical heuristic technique which we call DijkstraGC, and (ii) a slow method based on problem decomposition which provides a lower bound on the problem. We use the second technique to verify that for some practical examples DijkstraGC is able to find the global minimum.

We consider the problem of optimizing multilabel MRFs, which is in general NP-hard and ubiquitous in low-level computer vision. One approach for its solution is to formulate it as an integer linear programming and relax the integrality constraints. The approach we consider in this paper is to first convert the multi-label MRF into an equivalent binary-label MRF and then to relax it. The resulting relaxation can be efficiently solved using a maximum flow algorithm. Its solution provides us with a partially optimal labelling of the binary variables. This partial labelling is then easily transferred to the multi-label problem. We study the theoretical properties of the new relaxation and compare it with the standard one. Specifically, we compare tightness, and characterize a subclass of problems where the two relaxations coincide. We propose several combined algorithms based on the technique and demonstrate their performance on challenging computer vision problems.

Among the most exciting advances in early vision has been the development of efficient energy minimization algorithms for pixel-labeling tasks such as depth or texture computation. It has been known for decades that such problems can be elegantly expressed as Markov random fields, yet the resulting energy minimization problems have been widely viewed as intractable. Recently, algorithms such as graph cuts and loopy belief propagation (LBP) have proven to be very powerful: for example, such methods form the basis for almost all the top-performing stereo methods. However, the tradeoffs among different energy minimization algorithms are still not well understood. In this paper we describe a set of energy minimization benchmarks and use them to compare the solution quality and running time of several common energy minimization algorithms. We investigate three promising recent methods graph cuts, LBP, and tree-reweighted message passing in addition to the well-known older iterated conditional modes (ICM) algorithm. Our benchmark problems are drawn from published energy functions used for stereo, image stitching, interactive segmentation, and denoising. We also provide a general-purpose software interface that allows vision researchers to easily switch between optimization methods. Benchmarks, code, images, and results are available at http://vision.middlebury.edu/MRF/.

Many computer vision applications rely on the efficient optimization of challenging, so-called non-submodular, binary pairwise MRFs. A promising graph cut based approach for optimizing such MRFs known as "roof duality" was recently introduced into computer vision. We study two methods which extend this approach. First, we discuss an efficient implementation of the "probing" technique introduced recently by Bows et al. (2006). It simplifies the MRF while preserving the global optimum. Our code is 400-700 faster on some graphs than the implementation of the work of Bows et al. (2006). Second, we present a new technique which takes an arbitrary input labeling and tries to improve its energy. We give theoretical characterizations of local minima of this procedure. We applied both techniques to many applications, including image segmentation, new view synthesis, super-resolution, diagram recognition, parameter learning, texture restoration, and image deconvolution. For several applications we see that we are able to find the global minimum very efficiently, and considerably outperform the original roof duality approach. In comparison to existing techniques, such as graph cut, TRW, BP, ICM, and simulated annealing, we nearly always find a lower energy.

The maximum flow algorithm for minimizing energy functions of binary variables has become a standard tool in computer vision. In many cases, unary costs of the energy depend linearly on parameter λ. In this paper we study vision applications for which it is important to solve the maxflow problem for different λ's. An example is a weighting between data and regularization terms in image segmentation or stereo: it is desirable to vary it both during training (to learn λ from ground truth data) and testing (to select best λ using high-knowledge constraints, e.g. user input). We review algorithmic aspects of this parametric maximum flow problem previously unknown in vision, such as the ability to compute all breakpoints of λ and corresponding optimal configurations infinite time. These results allow, in particular, to minimize the ratio of some geometric functional, such as flux of a vector field over length (or area). Previously, such functional were tackled with shortest path techniques applicable only in 2D. We give theoretical improvements for "PDE cuts" [5]. We present experimental results for image segmentation, 3D reconstruction, and the cosegmentation problem.

The problem of obtaining the maximum a posteriori estimate of a general discrete random field (i.e. a random field defined using a finite and discrete set of labels) is known to be N P-hard. However, due to its central importance in many applications, several approximate algorithms have been proposed in the literature. In this paper, we present an analysis of three such algorithms based on convex relaxations: (i) L P - S: the linear programming (L P) relaxation proposed by Schlesinger [20] for a special case and independently in [4, 12, 23] for the general case; (ii) Q P - R L: the quadratic programming (Q P) relaxation by Ravikumar and Lafferty [18]; and (iii) S O C P - M S: the second order cone programming (S O C P) relaxation first proposed by Muramatsu and Suzuki [16] for two label problems and later extended in [14] for a general label set. We show that the S O C P - M S and the Q P - R L relaxations are equivalent. Furthermore, we prove that despite the flexibility in the form of the constraints/objective function offered by Q P and S O C P, the L P - S relaxation strictly dominates (i.e. provides a better approximation than) Q P - R L and S O C P - M S. We generalize these results by defining a large class of S O C P (and equivalent Q P) relaxations which is dominated by the L P - S relaxation. Based on these results we propose some novel S O C P relaxations which strictly dominate the previous approaches.

Optimization techniques based on graph cuts have become a standard tool for many vision applications. These techniques allow to minimize efficiently certain energy functions corresponding to pairwise Markov Random Fields (MRFs). Currently, there is an accepted view within the computer vision community that graph cuts can only be used for optimizing a limited class of MRF energies (e.g., submodular functions). In this survey, we review some results that show that graph cuts can be applied to a much larger class of energy functions (in particular, nonsubmodular functions). While these results are well-known in the optimization community, to our knowledge they were not used in the context of computer vision and MRF optimization. We demonstrate the relevance of these results to vision on the problem of binary texture restoration.

This paper presents an algorithm capable of real-time separation of foreground from background in monocular video sequences. Automatic segmentation of layers from colour/contrast or from motion alone is known to be error-prone. Here motion, colour and contrast cues are probabilistically fused together with spatial and temporal priors to infer layers accurately and efficiently. Central to our algorithm is the fact that pixel velocities are not needed, thus removing the need for optical flow estimation, with its tendency to error and computational expense. Instead, an efficient motion vs nonmotion classifier is trained to operate directly and jointly on intensity-change and contrast. Its output is then fused with colour information. The prior on segmentation is represented by a second order, temporal, Hidden Markov Model, together with a spatial MRF favouring coherence except where contrast is high. Finally, accurate layer segmentation and explicit occlusion detection are efficiently achieved by binary graph cut. The segmentation accuracy of the proposed algorithm is quantitatively evaluated with respect to existing groundtruth data and found to be comparable to the accuracy of a state of the art stereo segmentation algorithm. Foreground/ background segmentation is demonstrated in the application of live background substitution and shown to generate convincingly good quality composite video.

We introduce the term cosegmentation which denotes the task of segmenting simultaneously the common parts of an image pair. A generative model for cosegmentation is presented. Inference in the model leads to minimizing an energy with an MRF term encoding spatial coherency and a global constraint which attempts to match the appearance histograms of the common parts. This energy has not been proposed previously and its optimization is challenging and NP-hard. For this problem a novel optimization scheme which we call trust region graph cuts is presented. We demonstrate that this framework has the potential to improve a wide range of research: Object driven image retrieval, video tracking and segmentation, and interactive image editing. The power of the framework lies in its generality, the common part can be a rigid/non-rigid object (or scene), observed from different viewpoints or even similar objects of the same class.

Algorithms for discrete energy minimization are of fundamental importance in computer vision. In this paper, we focus on the recent technique proposed by Wainwright et al. [33]--tree-reweighted max-product message passing (TRW). It was inspired by the problem of maximizing a lower bound on the energy. However, the algorithm is not guaranteed to increase this bound--it may actually go down. In addition, TRW does not always converge. We develop a modification of this algorithm which we call sequential tree-reweighted message passing. Its main property is that the bound is guaranteed not to decrease. We also give a weak tree agreement condition which characterizes local maxima of the bound with respect to TRW algorithms. We prove that our algorithm has a limit point that achieves weak tree agreement. Finally, we show that, our algorithm requires half as much memory as traditional message passing approaches. Experimental results demonstrate that on certain synthetic and real problems, our algorithm outperforms both the ordinary belief propagation and tree-reweighted algorithm in [33]. In addition, on stereo problems with Potts interactions, we obtain a lower energy than graph cuts.

This paper describes models and algorithms for the real-time segmentation of foreground from background layers in stereo video sequences. Automatic separation of layers from color/contrast or from stereo alone is known to be error-prone. Here, color, contrast, and stereo matching information are fused to infer layers accurately and efficiently. The first algorithm, Layered Dynamic Programming (LDP), solves stereo in an extended six-state space that represents both foreground/background layers and occluded regions. The stereo-match likelihood is then fused with a contrast-sensitive color model that is learned on-the-fly and stereo disparities are obtained by dynamic programming. The second algorithm, Layered Graph Cut (LGC), does not directly solve stereo. Instead, the stereo match likelihood is marginalized over disparities to evaluate foreground and background hypotheses and then fused with a contrast-sensitive color model like the one used in LDP. Segmentation is solved efficiently by ternary graph cut. Both algorithms are evaluated with respect to ground truth data and found to have similar performance, substantially better than either stereo or color/ contrast alone. However, their characteristics with respect to computational efficiency are rather different. The algorithms are demonstrated in the application of background substitution and shown to give good quality composite video output.

This paper describes two algorithms capable of real-time segmentation of foreground from background layers in stereo video sequences. Automatic separation of layers from colour/contrast or from stereo alone is known to be error-prone. Here, colour, contrast and stereo matching information are fused to infer layers accurately and efficiently. The first algorithm, layered dynamic programming (LDP), solves stereo in an extended 6-state space that represents both foreground/background layers and occluded regions. The stereo-match likelihood is then fused with a contrast-sensitive colour model that is learned on the fly, and stereo disparities are obtained by dynamic programming. The second algorithm, layered graph cut (LGC), does not directly solve stereo. Instead the stereo match likelihood is marginalised over foreground and background hypotheses, and fused with a contrast-sensitive colour model like the one used in LDP. Segmentation is solved efficiently by ternary graph cut. Both algorithms are evaluated with respect to ground truth data and found to have similar p performance, substantially better than stereo or colour/contrast alone. However, their characteristics with respect to computational efficiency are rather different. The algorithms are demonstrated in the application of background substitution and shown to give good quality composite video output.

This paper demonstrates the high quality, real-time segmentation techniques. We achieve real-time segmentation of foreground from background layers in stereo video sequences. Automatic separation of layers from colour/contrast or from stereo alone is known to be error-prone. Here, colour, contrast and stereo matching information are fused to infer layers accurately and efficiently. The first algorithm, layered dynamic programming (LDP), solves stereo in an extended 6-state space that represents both foreground/background layers and occluded regions. The stereo-match likelihood is then fused with a contrast-sensitive colour model that is learned on the fly, and stereo disparities are obtained by dynamic programming. The second algorithm, layered graph cut (LGC), does not directly solve stereo. Instead the stereo match likelihood is marginalised over foreground and background hypotheses, and fused with a contrast-sensitive colour model like the one used in LDP. Segmentation is solved efficiently by ternary graph cut. Both algorithms are evaluated with respect to ground truth data and found to have similar performance, substantially better than stereo or colour/contrast alone. However, their characteristics with respect to computational efficiency are rather different. The algorithms are demonstrated in the application of background substitution and shown to give good quality composite video output.

This paper addresses the novel problem of automatically synthesizing an output image from a large collection of different input images. The synthesized image, called a digital tapestry, can be viewed as a visual summary or a virtual 'thumbnail' of all the images in the input collection. The problem of creating the tapestry is cast as a multi-class labeling problem such that each region in the tapestry is constructed from input image blocks that are salient and such that neighboring blocks satisfy spatial compatibility. This is formulated using a Markov random field and optimized via the graph cut based expansion move algorithm. The standard expansion move algorithm can only handle energies with metric terms, while our energy contains non-metric (soft and hard) constraints. Therefore we propose two novel contributions. First, we extend the expansion move algorithm for energy functions with non-metric hard constraints. Secondly, we modify it for functions with "almost" metric soft terms, and show that it gives good results in practice. The proposed framework was tested on several consumer photograph collections, and the results are presented.

In the work of the authors (2003), we showed that graph cuts can find hypersurfaces of globally minimal length (or area) under any Riemannian metric. Here we show that graph cuts on directed regular grids can approximate a significantly more general class of continuous non-symmetric metrics. Using submodularity condition (Boros and Hammer, 2002 and Kolmogorov and Zabih, 2004), we obtain a tight characterization of graph-representable metrics. Such "submodular" metrics have an elegant geometric interpretation via hypersurface functionals combining length/area and flux. Practically speaking, we attend 'geo-cuts' algorithm to a wider class of geometrically motivated hypersurface functionals and show how to globally optimize any combination of length/area and flux of a given vector field. The concept of flux was recently introduced into computer vision by Vasilevskiy and Siddiqi (2002) but it was mainly studied within variational framework so far. We are first to show that flux can be integrated into graph cuts as well. Combining geometric concepts of flux and length/area within the global optimization framework of graph cuts allows principled discrete segmentation models and advances the slate of the art for the graph cuts methods in vision. In particular we address the "shrinking" problem of graph cuts, improve segmentation of long thin objects, and introduce useful shape constraints.

After [15], [31], [19], [8], [25], [5], minimum cut/maximum flow algorithms on graphs emerged as an increasingly useful tool for exact or approximate energy minimization in low-level vision. The combinatorial optimization literature provides many min-cut/max-flow algorithms with different polynomial time complexity. Their practical efficiency, however, has to date been studied mainly outside the scope of computer vision. The goal of this paper is to provide an experimental comparison of the efficiency of min-cut/max flow algorithms for applications in vision. We compare the running times of several standard algorithms, as well as a new algorithm that we have recently developed. The algorithms we study include both Goldberg-Tarjan style "push-relabel" methods and algorithms based on Ford-Fulkerson style "augmenting paths." We benchmark these algorithms on a number of typical graphs in the contexts of image restoration, stereo, and segmentation. In many cases, our new algorithm works several times faster than any of the other methods, making near real-time performance possible. An implementation of our max-flow/min-cut algorithm is available upon request for research purposes.

In the last few years, several new algorithms based on graph cuts have been developed to solve energy minimization problems in computer vision. Each of these techniques constructs a graph such that the minimum cut on the graph also minimizes the energy. Yet, because these graph constructions are complex and highly specific to a particular energy function, graph cuts have seen limited application to date. In this paper, we give a characterization of the energy functions that can be minimized by graph cuts. Our results are restricted to functions of binary variables. However, our work generalizes many previous constructions and is easily applicable to vision problems that involve large numbers of labels, such as stereo, motion, image restoration, and scene reconstruction. We give a precise characterization of what energy functions can be minimized using graph cuts, among the energy functions that can be written as a sum of terms containing three or fewer binary variables. We also provide a general-purpose construction to minimize such an energy function. Finally, we give a necessary condition for any energy function of binary variables to be minimized by graph cuts. Researchers who are considering the use of graph cuts to optimize a particular energy function can use our results to determine if this is possible and then follow our construction to create the appropriate graph. A software implementation is freely available.

The problem of efficient, interactive foreground/background segmentation in still images is of great practical importance in image editing. Classical image segmentation tools use either texture (colour) information, e.g. Magic Wand, or edge (contrast) information, e.g. Intelligent Scissors. Recently, an approach based on optimization by graph-cut has been developed which successfully combines both types of information. In this paper we extend the graph-cut approach in three respects. First, we have developed a more powerful, iterative version of the optimisation. Secondly, the power of the iterative algorithm is used to simplify substantially the user interaction needed for a given quality of result. Thirdly, a robust algorithm for "border matting" has been developed to estimate simultaneously the alpha-matte around an object boundary and the colours of foreground pixels. We show that for moderately difficult examples the proposed method outperforms competitive tools.

Geodesic active contours and graph cuts are two standard image segmentation techniques. We introduce a new segmentation method combining some of their benefits. Our main intuition is that any cut on a graph embedded in some continuous space can be interpreted as a contour (in 2D) or a surface (in 3D). We show how to build a grid graph and set its edge weights so that the cost of cuts is arbitrarily close to the length (area) of the corresponding contours (surfaces) for any anisotropic Riemannian metric. There are two interesting consequences of this technical result. First, graph cut algorithms can be used to find globally minimum geodesic contours (minimal surfaces in 3D) under arbitrary Riemannian metric for a given set of boundary conditions. Second, we show how to minimize metrication artifacts in existing graph-cut based methods in vision. Theoretically speaking, our work provides an interesting link between several branches of mathematics -differential geometry, integral geometry, and combinatorial optimization. The main technical problem is solved using Cauchy-Crofton formula from integral geometry.

We address visual correspondence problems without assuming that scene points have similar intensities in different views. This situation is common, usually due to nonLambertian scenes or to differences between cameras. We use maximization of mutual information, a powerful technique for registering images that requires no a priori model of the relationship between scene intensities in different views. However, it has proven difficult to use mutual information to compute dense visual correspondence. Comparing fixed-size windows via mutual information suffers from the well-known problems of fixed windows, namely poor performance at discontinuities and in low-texture regions. In this paper, we show how to compute visual correspondence using mutual information without suffering from these problems. Using a simple approximation, mutual information can be incorporated into the standard energy minimization framework used in early vision. The energy can then be efficiently minimized using graph cuts, which preserve discontinuities and handle low-texture regions. The resulting algorithm combines the accurate disparity maps that come from graph cuts with the tolerance for intensity changes that comes from mutual information.

Several new algorithms for visual correspondence based on graph cuts have recently been developed. While these methods give very strong results in practice, they do not handle occlusions properly. Specifically, they treat the two input images asymmetrically, and they do not ensure that a pixel corresponds to at most one pixel in the other image. In this paper, we present a new method which properly addresses occlusions, while preserving the advantages of graph cut algorithms. We give experimental results for stereo as well as motion, which demonstrate that our method performs well both at detecting occlusions and computing disparities.