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학술대회 Adaptive Estimation of Error Sigma Using Cumulative Density Ratio Test in RANSAC
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저자
이재영
발행일
201510
출처
International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015, pp.498-503
DOI
https://dx.doi.org/10.1109/URAI.2015.7358814
협약과제
15GC1400, 철도역사 안전관리 지능형 인지시스템 기술 개발 , 이재영
초록
One of the most important issues in RANSAC is to estimate error threshold robustly. In this work, we propose an adaptive method for estimating error distribution in RANSAC using a cumulative density ratio test. In the proposed method, we first compute cumulative histogram of residual errors of data and then estimate error distribution by maximizing a similarity measure between the computed cumulative distribution and the standard normal cumulative distribution. The similarity between two cumulative distributions is measured by a cumulative density ratio test. The experimental result confirms the effectiveness of the proposed method.
키워드
Error estimation, RANSAC
KSP 제안 키워드
Cumulative distribution, Density ratio, Error threshold, Estimate error, Experimental Result, Residual error, adaptive estimation, adaptive method, cumulative histogram, error distribution, error estimation