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  1. ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ❙❝❤✇✐♥♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❢♦r ▼♦t✐✈❛t✐♦♥ ❘❡❛❧✲❚✐♠❡ ❍✐❣❤✲❉✐♠❡♥s✐♦♥❛❧ ❋✐❧t❡r✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼✐❧❡st♦♥❡s ❛♥❞ ❆❞✈❛♥❝❡s ✐♥ ■♠❛❣❡ ❆♥❛❧②s✐s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ❆❧❣♦r✐t❤♠ ▼❛r❦✉s ❙❝❤✇✐♥♥ ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s ❙✉♠♠❛r② ◆♦✈❡♠❜❡r ✷✼✱ ✷✵✶✷ ❘❡❢❡r❡♥❝❡s ▼♦t✐✈❛t✐♦♥ ✷✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s g i = ∑ p j ∈ S φ ( ˆ p j ) · f j p i − ˆ ❙❝❤✇✐♥♥ ∑ p j ∈ S φ ( ˆ p i − ˆ p j ) ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ✧❢r❛♠❡✇♦r❦✧ ❢♦r s♦♠❡ ❤✐❣❤✲❞✐♠❡♥s✐♦♥❛❧ ✜❧t❡r ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ φ ✐s ❛ ●❛✉ss✐❛♥ ❦❡r♥❡❧ ▼❛♥✐❢♦❧❞s ♣♦ss✐❜❧❡ ✜❧t❡rs ❢♦r ✷ D ❝♦❧♦✉r ✐♠❛❣❡s✿ ❚❤❡ ❆❧❣♦r✐t❤♠ p ∈ R ✷ ❝♦♥✈♦❧✉t✐♦♥ → ˆ ❘✉♥t✐♠❡ p ∈ R ✺ ❜✐❧❛t❡r❛❧ → ˆ ❆♣♣❧✐❝❛t✐♦♥s p ∈ R ✸ n ✷ + ✷ ♥♦♥✲❧♦❝❛❧ ♠❡❛♥ → ˆ ❙✉♠♠❛r② n ❞❡♣❡♥❞s ♦♥ ✇✐♥❞♦✇ s✐③❡ ❘❡❢❡r❡♥❝❡s ♣♦✇❡r❢✉❧✳✳✳ ❜✉t ✈❡r② s❧♦✇

  2. ◗✉❡st✐♦♥s t♦ ❙♦❧✈❡ ✸✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ❙❝❤✇✐♥♥ ▼♦t✐✈❛t✐♦♥ ✶ ❲❤❛t ❛r❡ ❛❞❛♣t✐✈❡ ♠❛♥✐❢♦❧❞s❄ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ✷ ❍♦✇ t♦ ❝♦♥str✉❝t t❤❡♠❄ ❚❤❡ ❆❧❣♦r✐t❤♠ ❘✉♥t✐♠❡ ✸ ❲❤❛t✬s t❤❡ ✉s❡ ♦❢❄ ❆♣♣❧✐❝❛t✐♦♥s ❙✉♠♠❛r② ❘❡❢❡r❡♥❝❡s ▼❛♥✐❢♦❧❞s ❆r❡ ◆♦t ❯♥❦♥♦✇♥✦ ✹✴✷✸ ❆❞❛♣t✐✈❡ ♣r❛❝t✐❝❛❧ ✉s❡ ♦❢ ♠❛♥✐❢♦❧❞s ▼❛♥✐❢♦❧❞s → ♣r♦❥❡❝t✐♥❣ ✇♦r❧❞ ♦♥t♦ ❛ ♠❛♣ ▼❛r❦✉s ❙❝❤✇✐♥♥ ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ❆❧❣♦r✐t❤♠ ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s ❙✉♠♠❛r② ❘❡❢❡r❡♥❝❡s

  3. ▼❡❛♥✐♥❣ ♦❢ ❆❞❛♣t✐✈❡ ✺✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❛♣♣r♦①✐♠❛t✐♦♥ ♦❢ ✐♥♣✉t s✐❣♥❛❧ ✐♥ ❤✐❣❤✲❞✐♠❡♥s✐♦♥❛❧ s♣❛❝❡ ▼❛r❦✉s ❙❝❤✇✐♥♥ ❛♣♣r♦①✐♠❛t❡❧② ❧✐♥❡❛r ✇✳r✳t ❧♦❝❛❧ ♥❡✐❣❤❜♦✉r❤♦♦❞ ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ❆❧❣♦r✐t❤♠ ❋♦r ✷ D ❝♦❧♦✉r ✐♠❛❣❡ ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s → ❞❡❛❧✐♥❣ ✇✐t❤ ✺✲❞✐♠❡♥s✐♦♥❛❧ s♣❛❝❡ ❙✉♠♠❛r② ❈♦♥str✉❝t✐♦♥ ♦❢ ♦♥❡ ♣♦✐♥t ♦♥ ♠❛♥✐❢♦❧❞ ❘❡❢❡r❡♥❝❡s → P ( S x , S y , R S , G S , B S ) S ❞❡♥♦t❡s ♣♦✐♥t ✐♥ s♣❛t✐❛❧ ❞♦♠❛✐♥ ❈♦♠♣✉t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ✻✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ✶ ❧♦✇✲♣❛ss ✜❧t❡r✐♥❣ ✐♥♣✉t s✐❣♥❛❧ ❙❝❤✇✐♥♥ → ❣❡♥❡r❛t❡s ✜rst ♠❛♥✐❢♦❧❞ η ✶ ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ✷ ❝♦♠♣✉t❡ ❝♦❧♦✉r ❞❡✈✐❛t✐♦♥ ♦❢ t❤❡ ♣✐①❡❧s ❈r❡❛t✐♥❣ ❞❡♣❡♥❞✐♥❣ ♦♥ ♠❛♥✐❢♦❧❞ ❛♥❞ ♦r✐❣✐♥❛❧ ✐♠❛❣❡ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ♠♦r❡ t❡❝❤♥✐❝❛❧✿ ❆❧❣♦r✐t❤♠ ❧❛r❣❡st ❡✐❣❡♥✈❡❝t♦r v ✶ ♦❢ ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s ( f ✶ − η ✶ ) · ( f ✶ − η ✶ ) T ❙✉♠♠❛r② ❘❡❢❡r❡♥❝❡s → v ✶ ❞❡s❝r✐❜❡s ✈❛r✐❛t✐♦♥ ♦❢ ❝♦❧♦✉r ✈❛❧✉❡s

  4. ❈♦♠♣✉t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ✼✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ❙❝❤✇✐♥♥ ✸ ❝❧✉st❡r ♣✐①❡❧s ✐♥ t✇♦ s✉❜s❡ts✳ ▼♦t✐✈❛t✐♦♥ → ❞❡♣❡♥❞✐♥❣ ♦♥ ✧♠❛✐♥ ❝♦❧♦✉r✧ ❆❞❛♣t✐✈❡ ❞❡✜♥✐♥❣ ❛❜♦✈❡ ❛♥❞ ❜❡❧♦✇ ✇✳r✳t ✜rst ♠❛♥✐❢♦❧❞ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ♠♦r❡ t❡❝❤♥✐❝❛❧✿ ❚❤❡ ❆❧❣♦r✐t❤♠ sign = v T ✶ ( f i − η ✶ i ) ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s C + ← p i ✐❢ sign � ✵ ❙✉♠♠❛r② C − ← p i ✐❢ sign < ✵ ❘❡❢❡r❡♥❝❡s ❈♦♠♣✉t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ✽✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ❙❝❤✇✐♥♥ ▼♦t✐✈❛t✐♦♥ ✹ ❝♦♠♣✉t❡ ❢♦r ❡❛❝❤ ❝❧✉st❡r ♠❛♥✐❢♦❧❞s η + ❛♥❞ η − ❆❞❛♣t✐✈❡ ❤✐❣❤❡r ✇❡✐❣❤t✐♥❣ ❢♦r ♣✐①❡❧s✱ ♥♦t r❡♣r❡s❡♥t❡❞ ✇❡❧❧ ✐♥ η ✶ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ❆❧❣♦r✐t❤♠ ✺ r❡♣❡❛t ✉♣ ❢r♦♠ ❙t❡♣ ✷ ❘✉♥t✐♠❡ ✉♥t✐❧ ♥✉♠❜❡r ♦❢ ♠❛♥✐❢♦❧❞s ✐s r❡❛❝❤❡❞ ❆♣♣❧✐❝❛t✐♦♥s ❙✉♠♠❛r② ❘❡❢❡r❡♥❝❡s

  5. ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ✲ ❊①❛♠♣❧❡ ✾✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ❙❝❤✇✐♥♥ ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ η + ▼❛♥✐❢♦❧❞s � � ❚❤❡ ❆❧❣♦r✐t❤♠ ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s ♦r✐❣✐♥❛❧ ✐♠❛❣❡ η ✶ ❙✉♠♠❛r② ❘❡❢❡r❡♥❝❡s η − ❚❤❡ ❆❧❣♦r✐t❤♠ ✶✵✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❙♣❧❛tt✐♥❣ ▼❛r❦✉s ❙❝❤✇✐♥♥ ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ❆❧❣♦r✐t❤♠ ♣r♦❥❡❝ts ❝♦❧♦✉r ❢♦r ❡❛❝❤ ♣♦s✐t✐♦♥ ♦♥t♦ ❡❛❝❤ ♠❛♥✐❢♦❧❞ ❘✉♥t✐♠❡ ●❛✉ss✐❛♥ ✇❡✐❣❤t❡❞ ✇✐t❤ ❆♣♣❧✐❝❛t✐♦♥s ❙✉♠♠❛r② Ψ splat ( ˆ η ki ) = φ ( η ki − f i ) f i ❘❡❢❡r❡♥❝❡s φ ✐s ❛ ●❛✉ss✐❛♥ ❦❡r♥❡❧

  6. ❚❤❡ ❆❧❣♦r✐t❤♠ ✶✶✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ❇❧✉rr✐♥❣ ❙❝❤✇✐♥♥ ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ❆❧❣♦r✐t❤♠ ❜❧✉rs ♦✈❡r ❛❧❧ ♠❛♥✐❢♦❧❞s ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s ❙✉♠♠❛r② Ψ splat ( ˆ η ki ) � Ψ blur ( ˆ η ki ) ❘❡❢❡r❡♥❝❡s ❝❤❛♥❣❡s ✐♥❢♦r♠❛t✐♦♥ ❜❡t✇❡❡♥ s❛♠♣❧❡ ♣♦✐♥ts η ki ❚❤❡ ❆❧❣♦r✐t❤♠ ✶✷✴✷✸ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ▼❛r❦✉s ❙❝❤✇✐♥♥ ❙❧✐❝✐♥❣ ▼♦t✐✈❛t✐♦♥ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❈r❡❛t✐♥❣ ❆❞❛♣t✐✈❡ ▼❛♥✐❢♦❧❞s ❚❤❡ ❆❧❣♦r✐t❤♠ ❘✉♥t✐♠❡ ❆♣♣❧✐❝❛t✐♦♥s ❝♦♠♣✉t❡ ✜❧t❡r r❡s♣♦♥s❡ ❙✉♠♠❛r② ✐♥t❡r♣♦❧❛t❡s ❜② ❜❧✉rr❡❞ ✈❛❧✉❡s ♦✈❡r ❛❧❧ ❛❞❛♣t❡❞ ♠❛♥✐❢♦❧❞s ❘❡❢❡r❡♥❝❡s

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