An adaptive-scale robust estimator for motion estimation

Trung Ngo Thanh, Hajime Nagahara, Ryusuke Sagawa, Yasuhiro Mukaigawa, Masahiko Yachida, Yasushi Yagi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Although RANSAC is the most widely used robust estimator in computer vision, it has certain limitations making it ineffective in some situations, such as the motion estimation problem, in which uncertainty on the image features changes according to the capturing conditions. The greatest problem is that the threshold used by RANSAC to detect inliers cannot be changed adaptively; instead it is fixed by the user. An adaptive scale algorithm must therefore be applied in such cases. In this paper, we propose a new adaptive scale robust estimator that adaptively finds the best solution with the best scale to fit the inliers, without the need for predefined information. Our new adaptive scale estimator matches the residual probability density from an estimate and the standard Gaussian probability density function to find the best inlier scale. Our algorithm is evaluated in several motion estimation experiments under varying conditions and the results are compared with several of the latest adaptive-scale robust estimators.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Automation, ICRA '09
Pages2455-2460
Number of pages6
DOIs
Publication statusPublished - Nov 2 2009
Event2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, Japan
Duration: May 12 2009May 17 2009

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2009 IEEE International Conference on Robotics and Automation, ICRA '09
CountryJapan
CityKobe
Period5/12/095/17/09

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Thanh, T. N., Nagahara, H., Sagawa, R., Mukaigawa, Y., Yachida, M., & Yagi, Y. (2009). An adaptive-scale robust estimator for motion estimation. In 2009 IEEE International Conference on Robotics and Automation, ICRA '09 (pp. 2455-2460). [5152445] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2009.5152445