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Various Regularization Methods in Computer Vision. Min- Gyu Park Computer Vision Lab. School of Information and Communications GIST. Vision Problems (intro). Such as stereo matching, optical flow estimation, de-noising, segmentation, are typically ill-posed problems .

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various regularization methods in computer vision

Various Regularization Methods in Computer Vision

Min-Gyu Park

Computer Vision Lab.

School of Information and Communications


vision problems intro
Vision Problems (intro)
  • Such as stereo matching, optical flow estimation, de-noising, segmentation, are typically ill-posed problems.
    • Because these are inverse problems.
  • Properties of well-posed problems.
    • Existence: a solution exists.
    • Uniqueness: the solution is unique.
    • Stability: the solution continuously depends on the input data.
vision problems intro1
Vision Problems (intro)
  • Vision problems are difficult to compute the solution directly.
    • Then, how to find a meaningful solution to such a hard problem?
  • Impose the prior knowledge to the solution.
    • Which means we constrict the space of possible solutions to physically meaningful ones.
vision problems intro2
Vision Problems (intro)
  • This seminar is about imposing our prior knowledge to the solution or to the scene.
  • There are various kinds of approaches,
    • Quadratic regularization,
    • Total variation,
    • Piecewise smooth models,
    • Stochastic approaches,
    • With either L1 or L2 data fidelity terms.
  • We will study about the properties of different priors.
bayesian inference probabilistic modeling
Bayesian Inference & Probabilistic Modeling
  • We will see the simple de-noising problem.
    • f is a noisy input image, u is the noise-free (de-noised) image, and n is Gaussian noise.
  • Our objective is finding the posterior distribution,
    • Where the posterior distribution can be directly estimated or can be estimated as,
bayesian inference probabilistic modeling1
Bayesian Inference & Probabilistic Modeling
  • Probabilistic modeling
  • Depending on how we model p(u), the solution will be significantly different.

Prior term

Likelihood term (data fidelity term)

Evidence(does not depend on u)

de noising problem
De-noising Problem
  • Critical issue.
    • How to smooth the input image while preserving some important features such as image edge.

Input (noisy) image

De-noised image via L1 regularization term

de noising problem1
De-noising Problem
  • Formulation.

Quadratic smoothness of a first order derivatives.

First order: flat surface

Second order: quadratic surface

de noising problem2
De-noising Problem
  • By combining both likelihood and prior terms,
  • Thus, maximization of p(f|u)p(u) is equivalent to minimize the free energy of Gibbs distribution.

Is the exactly Gibbs function!!!

how to minimize the energy function
How to minimize the energy function?
  • Directly solve the Euler-Lagrange equations.
    • Because the solution space is convex!(having a globally unique solution)
the result of a quadratic regularizer
The Result of a Quadratic Regularizer

Noise are removed (smoothed), but edges are also blurred.

Input (noisy) image

The result is not satisfactory….

  • Due to bias against discontinuities.








Discontinuity are penalized more!!!

1 2 3 4 5 6

whereas L1 norm(total variation)treats both as same.

pros cons
Pros & Cons
  • If there is no discontinuity in the result such as depth map, surface, and noise-free image, quadratic regularizer will be a good solution.
    • L2 regulaizer is biased against discontinuities.
    • Easy to solve! Descent gradient will find the solution.
      • Quadratic problems has a unique global solution.
        • Meaning it is a well-posed problem.
        • But, we cannot guarantee the solution is truly correct.
introduction to total variation
Introduction to Total Variation
  • If we use L1-norm for the smoothness prior,
  • Furthermore, if we assume the variance is 1 then,
introduction to total variation1
Introduction to Total Variation
  • Then, the free energy is defined as total variation of a function u.

Definition of total variation:


s.t. the summation should be a finite value (TV(f) < ). Those functions have bounded variation(BV).



characteristics of total variation
Characteristics of Total Variation
  • Advantages:
    • No bias against discontinuities.
    • Contrast invariant without explicitly modeling the light condition.
    • Robust under impulse noise.
  • Disadvantages:
    • Objective functions are non-convex.
      • Lie between convex and non-convex problems.
how to solve it
How to solve it?
  • With L1, L2 data terms, wecan use
    • Variational methods
      • Explicit Time Marching
      • Linearization of Euler-Lagrangian
      • Nonlinear Primal-dual method
      • Nonlinear multi-grid method
    • Graph cuts
    • Convex optimization (first order scheme)
    • Second order cone programming
  • To solve original non-convex problems.
variational methods
Variational Methods
  • Definition.
    • Informally speaking, they are based on solving Euler-Lagrange equations.
  • Problem Definition (constrained problem).

The first total variation based approach in computer vision, named after Rudin, Osher and Fatemi, shortly as ROF model (1992).

variational methods1
Variational Methods
  • Unconstrained (Lagrangian) model
  • Can be solved by explicit time matching scheme as,
variational methods2
Variational Methods
  • What happens if we change the data fidelity term to L1 norm as,
  • More difficult to solve (non-convex), but robust against outliers such as occlusion.

This formulation is called as TV-L1 framework.

variational methods3
Variational Methods
  • Comparison among variational methods in terms of explicit time marching scheme.




Where the degeneracy comes from.

variational methods4
Variational Methods
  • In L2-L2 case,


duality based approach
Duality-based Approach
  • Why do we use duality instead of the primal problem?
    • The function becomes continuously differentiable.
    • Not always, but in case of total variation.
  • For example, we use below property to introduce a dual variable p,
duality based approach1
Duality-based Approach
  • Deeper understandings of duality in variational methods will be given in the next seminar.
applying to other problems
Applying to Other Problems
  • Optical flow (Horn and Schunck – L2-L2)
  • Stereo matching (TV-L1)
  • Segmentation (TV-L2)