Factorization algorithms for recovering structure and motion from an image stream have many advantages, but they usually require a set of well-tracked features. Such a set is in generally not available in practical applications. There is thus a need for making factorization algorithms deal effectively with errors in the tracked features. We propose a new and computationally efficient algorithm for applying an arbitrary error function in the factorization scheme. This algorithm enables the use of robust statistical techniques and arbitrary noise models for the individual features. These techniques and models enable the factorization scheme to deal effectively with mismatched features, missing features, and noise on the individual features. The proposed approach further includes a new method for Euclidean reconstruction that significantly improves convergence of the factorization algorithms. The proposed algorithm has been implemented as a modification of the Christy-Horaud factorization scheme, which yields a perspective reconstruction. Based on this implementation, a considerable increase in error tolerance is demonstrated on real and synthetic data. The proposed scheme can, however, be applied to most other factorization algorithms.

General deformable models have reduced the need for hand crafting new models for every new problem, but still most of the general models rely on manual interaction by an expert, when applied to a new problem, e.g. for selecting parameters and initialization. We propose a full and unified scheme for applying the general deformable template model proposed by (Grenander et al., 1991) to a new problem with minimal manual interaction, beside supplying a training set, which can be done by a non-expert user. The main contributions compared to previous work are a supervised learning scheme for the model parameters, a very fast general initialization algorithm and an adaptive likelihood model based on local means. The model parameters are trained by a combination of a 2D shape learning algorithm and a maximum likelihood based criteria. The fast initialization algorithm is based on a search approach using a filter interpretation of the likelihood model.

Deformable templates have been intensively studied in image analysis through the last decade, but despite its significance the estimation of model parameters has received little attention. We present a method for supervised and unsupervised model parameter estimation using a general Bayesian formulation of deformable templates. In the supervised estimation the parameters are estimated using a likelihood and a least squares criterion given a training set. For most deformable template models the supervised estimation provides the opportunity for simulation of the prior model. The unsupervised method is based on a modified version of the EM algorithm. Experimental results for a deformable template used for textile inspection are presented.