[Reference] Trained prior parameters
40-degree model
Below are results for training a deformation model for a 40 degree rotation.
Training only local prior w/ noise_variance fixed at 1.0:
noise_variance: 1
geodesic_variance: 15.9174
geodesic_scale: 0.0019
branch_linear_variance: 0.0485
branch_const_variance: 3.7438
linear_variance: 0.0348
const_variance: 685.7670
Training full model (local prior and epipolar prior) w/ noise variance fixed at 1.0
log-likelihood = -2368.62
epipolar_variance: 4.5465
euclidean_variance: 0.0422
euclidean_scale: 4.2001e-07
noise_variance: 1
geodesic_variance: 233.9050
geodesic_scale: 4.3327e-04
branch_linear_variance: 0.1079
branch_const_variance: 7.0217
linear_variance: 0.1016
const_variance: 2.4123e+03
Notice significantly larger geodesic variance, and much longer scale length (48 vs 22 pixels). All other variances increased too. This is probably because we've treated the two priors as independent, but they aren't, so multiplying them results in too little overall variance.
By comparison, below is a nearby local minimum, obtained by training all 9 parameters from scratch.
log-likelihood: -2370.05
epipolar_variance: 4.6435
euclidean_variance: 3.1113e-35
euclidean_scale: 7.4415e+152
noise_variance: 1
geodesic_variance: 283.5387
geodesic_scale: 3.9692e-04
branch_linear_variance: 0.1236
branch_const_variance: 6.5436
linear_variance: 0.0746
const_variance: 5.4990e-109
This model moves all epipolar prior variance into the iid epipolar_variance variables. Also the local prior's offset variance has been moved into the deformation variance, geodesic_variance, while shortening the scale.
10-degree model
Below are results for training a deformation model for a 10 degree rotation.
epipolar_variance: 4.5465
euclidean_variance: 0.0422
euclidean_scale: 4.2001e-07
noise_variance: 1
geodesic_variance: 2.0824
geodesic_scale: 5.9410e-04
branch_linear_variance: 0.0064
branch_const_variance: 0.6186
linear_variance: 0
const_variance: 1.1533e-21
ll: -2087.07
I suspect overfitting here. Fitting works best when scaling prior variance by 36.
Posted by Kyle Simek