Robust regression and outlier detection
Robust regression and outlier detection
A survey of the Hough transform
Computer Vision, Graphics, and Image Processing
Segmentation through Variable-Order Surface Fitting
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
IEEE Transactions on Pattern Analysis and Machine Intelligence
Journal of Mathematical Imaging and Vision
Bias in Robust Estimation Caused by Discontinuities and Multiple Structures
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Adaptive Segmentation of Range Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Parameter Estimation in Computer Vision
SIAM Review
MLESAC: a new robust estimator with application to estimating image geometry
Computer Vision and Image Understanding - Special issue on robusst statistical techniques in image understanding
MIR: An Approach to Robust Clustering-Application to Range Image Segmentation
IEEE Transactions on Pattern Analysis and Machine Intelligence
Using EM to Learn 3D Models of Indoor Environments with Mobile Robots
ICML '01 Proceedings of the Eighteenth International Conference on Machine Learning
MUSE: Robust Surface Fitting using Unbiased Scale Estimates
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
ICPR '98 Proceedings of the 14th International Conference on Pattern Recognition-Volume 2 - Volume 2
Scale Selection for Classification of Point-Sampled 3-D Surfaces
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Generalized Principal Component Analysis (GPCA)
IEEE Transactions on Pattern Analysis and Machine Intelligence
Heteroscedastic Projection Based M-Estimators
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Workshops - Volume 03
Building Local Safety Maps for a Wheelchair Robot using Vision and Lasers
CRV '06 Proceedings of the The 3rd Canadian Conference on Computer and Robot Vision
Combining plane estimation with shape detection for holistic scene understanding
ACIVS'11 Proceedings of the 13th international conference on Advanced concepts for intelligent vision systems
Human posture recognition with a time-of-flight 3D sensor for in-home applications
Expert Systems with Applications: An International Journal
Interactive object modelling based on piecewise planar surface patches
Computer Vision and Image Understanding
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Range sensors, in particular time-of-flight and stereo cameras, are being increasingly used for applications such as robotics, automotive, human-machine interface and virtual reality. The ability to recover the geometrical structure of visible surfaces is critical for scene understanding. Typical structured indoor or urban scenes are often represented via compositional models comprising multiple planar surface patches. The RANSAC robust regression algorithm is the most popular technique to date for extracting individual planar patches from noisy data sets containing multiple surfaces. Unfortunately, RANSAC fails to produce reliable results in situations with two nearby patches of limited extent, where a single plane crossing through the two patches may contain more inliers than the ''correct'' models. This is the case of steps, curbs, or ramps, which represent the focus of our research for the impact they can have on cars' safe parking systems or robot navigation. In an effort to improve the quality of regression in these cases, we propose a modification of the RANSAC algorithm, dubbed CC-RANSAC, that only considers the largest connected components of inliers to evaluate the fitness of a candidate plane. We provide experimental evidence that CC-RANSAC may recover the planar patches composing a typical step or ramp with substantially higher accuracy than the traditional RANSAC algorithm.