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Intrinsically similar
Intrinsically dissimilar
Extrinsic dissimilarity
Intrinsic dissimilarity
A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007
Optimization variable: the deformed shape vertex coordinates Assuming has the connectivity of and
and gradient
is a fixed matrix of all pair-wise geodesic distances on Can be precomputed using Dijkstras algorithm or fast marching
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is a matrix of Euclidean distances between adjacent vertices is a linear operator integrating the path length along fixed path
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Compute corresponding points Compute shortest paths and assemble Update to sufficiently decrease
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Data: tosca.cs.technion.ac.il
= topology change
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no topological changes
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= topology-preserving
= topology change
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= topology-preserving
= topology change
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Extrinsic EER=10.3%
False rejection rate (FRR), %
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Joint EER=1.6%
Intrinsic EER=7.7%
0.1
0.1
10
100
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Shape morphing
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is sensitive to topology changes Possible more robust alternatives Average path length Density of paths Transition probability
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Diffusion on manifolds
Kernel (aka affinity function) Non-negative Symmetric Positive semi-definite: for any
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion on manifolds
Normalized kernel where Because of normalization is no more symmetric Symmetrized kernel = probability of step from Discrete case: Markovian matrix to by random walk (each row sums to 1)
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion on manifolds
Diffusion operator Discrete case: matrix
where
and
Discrete case:
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion on manifolds
Power of the diffusion operator
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion distance
to
by paths of length m
Small if there are many paths connecting Large if there are few paths connecting
and and
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion distance
A mathematical exercise: find the kernel of
Discrete case:
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion distance
Substitute
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion distance
= bump centered at Becomes wider as m increases = distance between two bumps Small if there is cross-talk between bumps Large if bumps do not overlap
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Kernels
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Diffusion distance
Substitute into diffusion distance
where
R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005
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Diffusion maps
No topology change Topology change
Canonical form
Diffusion map