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Conference Paper
Adaptive Estimation of Error Sigma Using Cumulative Density Ratio Test in RANSAC
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- Authors
- Jae-Yeong Lee
- Issue Date
- 2015-10
- Citation
- International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2015, pp.498-503
- Publisher
- IEEE
- Language
- English
- Type
- Conference Paper
- Abstract
- 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.
- KSP Keywords
- Cumulative distribution, Density ratio, Error threshold, Estimate error, Experimental Result, Residual error, adaptive estimation, adaptive method, cumulative histogram, error distribution, ratio test