상세정보
학술대회
Adaptive Estimation of Inlier and Outlier Threshold
- 발행일
- 201310
- 출처
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2013, pp.591-594
- 협약과제
- 13VC2700, 실외환경에 강인한 도로기반 저가형 자율주행 기술 개발, 유원필
- 초록
- One of the main problems relating RANSAC estimation is to determine the inlier threshold adaptively depending on the variance of inliers. In this paper, we propose a novel method that estimates the inlier threshold adaptively from the observations, giving a threshold-free RANSAC. A minimum assumption of our method is that the lower bound of inlier ratio is known in advance and the variance of inliers follows Gaussian. We also describe a simple motion flow tracker as an application of the proposed method. In the experiment we show the effectiveness of the proposed method by comparing tracking performance with and without adaptive estimation of inlier threshold. © 2013 IEEE.
- KSP 제안 키워드
- Lower bound, Tracking Performance, adaptive estimation, novel method