Marginalizing Sample Consensus.
Saved in:
| Title: | Marginalizing Sample Consensus. |
|---|---|
| Authors: | Barath, Daniel, Noskova, Jana, Matas, Jiri |
| Source: | IEEE Transactions on Pattern Analysis & Machine Intelligence; Nov2022, Vol. 44 Issue 11, p8420-8432, 13p |
| Subject Terms: | SOURCE code, C++, PYTHON programming language, DECISION making, ALGORITHMS |
| Abstract: | A new method for robust estimation, MAGSAC++, is proposed. It introduces a new model quality (scoring) function that does not make inlier-outlier decisions, and a novel marginalization procedure formulated as an M-estimation with a novel class of M-estimators (a robust kernel) solved by an iteratively re-weighted least squares procedure. Instead of the inlier-outlier threshold, it requires only its loose upper bound which can be chosen from a significantly wider range. Also, we propose a new termination criterion and a technique for selecting a set of inliers in a data-driven manner as a post-processing step after the robust estimation finishes. On a number of publicly available real-world datasets for homography, fundamental matrix fitting and relative pose, MAGSAC++ produces results superior to the state-of-the-art robust methods. It is more geometrically accurate, fails fewer times, and it is often faster. It is shown that MAGSAC++ is significantly less sensitive to the setting of the threshold upper bound than the other state-of-the-art algorithms to the inlier-outlier threshold. Therefore, it is easier to be applied to unseen problems and scenes without acquiring information by hand about the setting of the inlier-outlier threshold. The source code and examples both in C++ and Python are available at https://github.com/danini/magsac. [ABSTRACT FROM AUTHOR] |
| Copyright of IEEE Transactions on Pattern Analysis & Machine Intelligence is the property of IEEE and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Biomedical Index |
Full Text Finder 
Nájsť tento článok vo Web of Science Be the first to leave a comment!