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.
Preemptive RANSAC for live structure and motion estimation
2003-01-01
652758 byte
Conference paper
Electronic Resource
English
Preemptive RANSAC for Live Structure and Motion Estimation
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