改进RANSAC快速地标识别

2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops Pub Date : 2008-06-23 DOI:10.1109/CVPRW.2008.4563138

Pablo Márquez-Neila, Jacobo Garcia Miro, J. M. Buenaposada, L. Baumela

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引用次数: 20

摘要

基于一组兴趣点的检测和识别，介绍了一种用于移动机器人导航的平面地标识别和定位方法。我们使用RANSAC来拟合单应字并定位地标。我们的主要贡献是引入了一个几何约束，该约束通过丢弃最小子集来减少RANSAC迭代的次数。在进行的实验中，我们得出结论，该约束通过分别减少约35%和75%的仿射和投影相机的迭代次数来提高RANSAC性能。

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Improving RANSAC for fast landmark recognition

We introduce a procedure for recognizing and locating planar landmarks for mobile robot navigation, based in the detection and recognition of a set of interest points. We use RANSAC for fitting a homography and locating the landmark. Our main contribution is the introduction of a geometrical constraint that reduces the number of RANSAC iterations by discarding minimal subsets. In the experiments conducted we conclude that this constraint increases RANSAC performance by reducing in about 35% and 75% the number of iterations for affine and projective cameras, respectively.

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来源期刊

2008 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Workshops

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