Fitting Quadratic Curves to Data Points

Fitting quadratic curves (a.k.a. conic sections, or conics) to data points (digitized images) is a fundamental task in image processing and computer vision. This problem reduces to minimization of a certain function over the parameter space of conics. Here we undertake a thorough investigation of that space and the properties of the objective function on it. We determine under what conditions that function is continuous and differentiable. We identify its discontinuities and other singularities and determined what effect those have on the performance of minimization algorithms. Our analysis shows that algebraic parameters of conics are more suitable for minimization procedures than more popular geometric parameters, for a number of reasons. First, the space of parameters is naturally compact, thus their estimated values cannot grow indefinitely causing divergence. Second, with algebraic parameters minimization procedures can move freely and smoothly between conics of different types allowing shortcuts and faster convergence. Third, with algebraic parameters one avoids known issues occurring when the fitting conic becomes a circle. To support our conclusions we prove a dozen of mathematical theorems and provide a plenty of illustrations.