Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Topology-Invariant Similarity and Diffusion Geometry

Lecture 7

Alexander & Michael Bronstein tosca.cs.technion.ac.il/book

Numerical geometry of non-rigid shapes Stanford University, Winter 2009

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Intrinsic similarity limitations

Intrinsically similar

Intrinsically dissimilar

Suitable for near-isometric shape deformations

Unsuitable for deformations modifying shape topology

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Extrinsically similar Intrinsically dissimilar Extrinsically dissimilar Intrinsically similar

Extrinsically dissimilar Intrinsically dissimilar Desired result:

THIS IS THE SAME SHAPE!

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Joint extrinsic/intrinsic similarity

DEFORM X TO MATCH Y EXTRINSICALLY

CONSTRAIN THE DEFORMATION TO BE AS ISOMETRIC AS POSSIBLE

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Glove fitting example

Misfit = Extrinsic dissimilarity

Stretching = Intrinsic dissimilarity

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Extrinsic dissimilarity

Intrinsic dissimilarity
A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Computation of the joint similarity

Optimization variable: the deformed shape vertex coordinates Assuming has the connectivity of and

Split into computation of Gradients w.r.t.

are required for optimization

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Computation of the extrinsic term

Find and fix correspondence Can be e.g. the closest points between current and

Compute an L2 variant of a one-sided Hausdorff distance

and its gradient Similar in spirit to ICP

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

Computation of the intrinsic term

Fix trivial correspondence between and

Compute L2 distortion of geodesic distances

and gradient

is a fixed matrix of all pair-wise geodesic distances on Can be precomputed using Dijkstras algorithm or fast marching

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Computation of the intrinsic term

is function of the optimization variables and needs to be recomputed First option: modify the Dijkstras algorithm or fast marching to compute the gradient in addition to the distance itself

Second option: compute and fix the path of the geodesic

is a matrix of Euclidean distances between adjacent vertices is a linear operator integrating the path length along fixed path

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Computation of the joint similarity

Alternating minimization algorithm
1 2 3

Compute corresponding points Compute shortest paths and assemble Update to sufficiently decrease

If change is small, stop; otherwise, go to Step

A. Bronstein, M. Bronstein, R. Kimmel, ICCV 2007

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Numerical example dataset

Data: tosca.cs.technion.ac.il

= topology change

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Numerical example intrinsic similarity

no topological changes

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Numerical example intrinsic similarity

Insensitive to strong deformations

Sensitive to topological changes

= topology-preserving = topology change

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Numerical example extrinsic similarity

Insensitive to topological changes Sensitive to strong deformations

= topology-preserving

= topology change

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Numerical example joint similarity

Insensitive to topological changes...

and to strong deformations

= topology-preserving

= topology change

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Numerical example ROC curves

100

Extrinsic EER=10.3%
False rejection rate (FRR), %
10

Joint EER=1.6%

Intrinsic EER=7.7%

Intrinsic, no topological changes EER=1.1%

0.1

0.1

10

100

False acceptance rate (FAR), %

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Shape morphing

Stronger intrinsic similarity (larger )

Stronger extrinsic similarity (smaller )

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Other intrinsic geometries

Geodesic distance

is sensitive to topology changes Possible more robust alternatives Average path length Density of paths Transition probability

A. Bronstein, M. Bronstein, R. Kimmel, M. Mahmoudi, G. Sapiro, submitted to IJCV

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Diffusion on manifolds
Kernel (aka affinity function) Non-negative Symmetric Positive semi-definite: for any

Discrete case: Examples: Adjacency matrix Heat kernel

symmetric positive semi-definite matrix

R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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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

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Diffusion on manifolds
Diffusion operator Discrete case: matrix

Spectral theorem: the kernel of operator decomposition

admits the spectral

where

and

are eigenvalues and eigenfunctions of where are eigenvectors of

Discrete case:

R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Diffusion on manifolds
Power of the diffusion operator

where the kernel is

Discrete case: matrix power = transition probability from to in m steps

R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Diffusion distance

Connectivity rate from

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

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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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

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Diffusion distance
Substitute

into diffusion distance

R.R. Coifman, S. Lafon, A.B. Lee, M. Maggioni, F. Warner, S.W. Zucker, PNAS 2005

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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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

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Kernels

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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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

Numerical geometry of non-rigid shapes Topology-Invariant Similarity & Diffusion Geometry

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Canonical forms, bis

is a metric on is isometrically embeddable into by means of

Infinitely dimensional canonical form (diffusion map)

Truncated gives good convergence rate

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Diffusion maps
No topology change Topology change

Canonical form

Diffusion map