Preemptive RANSAC for live structure and motion estimation
Preemptive RANSAC for live structure and motion estimation
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DOI：
10.1007/s00138-005-0006-y
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发表时间：
2005-12-01
影响因子：
3.3
通讯作者：
Nistér, D
中科院分区：
文献类型：
--
作者：
Nistér, D
提出了一种能够对透视相机进行鲁棒的实时自我运动估计的系统。该系统是由随机样本的共识与抢先得分的运动假设。给出了有效抢占式评分问题的一般描述。然后，在一个简单的内点-外点模型下的抢先评分进行了理论研究。提出了一种实用的抢占方案，并表明抢占是强大的，足以使强大的活的结构和运动估计。
A system capable of performing robust live ego-motion estimation for perspective cameras is presented. The system is powered by random sample consensus with preemptive scoring of the motion hypotheses. A general statement of the problem of efficient preemptive scoring is given. Then a theoretical investigation of preemptive scoring under a simple inlier-outlier model is performed. A practical preemption scheme is proposed and it is shown that the preemption is powerful enough to enable robust live structure and motion estimation.