Exploiting uncertainty in random sample consensus

In this work, we present a technique for robust estimation, which by explicitly incorporating the inherent uncertainty of the estimation procedure, results in a more efficient robust estimation algorithm. In addition, we build on recent work in randomized model verification, and use this to characterize the `non-randomness' of a solution. The combination of these two strategies results in a robust estimation procedure that provides a significant speed-up over existing RANSAC techniques, while requiring no prior information to guide the sampling process. In particular, our algorithm requires, on average, 3-10 times fewer samples than standard RANSAC, which is in close agreement with theoretical predictions. The efficiency of the algorithm is demonstrated on a selection of geometric estimation problems.

• Type: Journal
• Year: 2009
• Where: ICCV
• Authors: Rahul Raguram, Jan-Michael Frahm, Marc Pollefeys
• Keywords: Computer Vision, Estimation Procedure, ICCV 2009, Robust Estimation, Robust Estimation Algorithm