Tracking and data association
Robust regression and outlier detection
Robust regression and outlier detection
Robust regression methods for computer vision: a review
International Journal of Computer Vision
3D measurements from imaging laser radars: how good are they?
Image and Vision Computing - Special issue: range image understanding
Parametric Model Fitting: From Inlier Characterization to Outlier Detection
IEEE Transactions on Pattern Analysis and Machine Intelligence
3D reconstruction and mapping from stereo pairs with geometrical rectification
BVAI'07 Proceedings of the 2nd international conference on Advances in brain, vision and artificial intelligence
Three-dimensional mapping from stereo images with geometrical rectification
AMDO'06 Proceedings of the 4th international conference on Articulated Motion and Deformable Objects
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We present a method for estimating the viewpoint from which a 3D image has been taken using a central-projection range sensor. We assume we have the 3D coordinates of the points, organized with a known topology, but considerable noise is present in the data. At points in the scene where there are surface discontinuities, we estimate step rays through a linear interpolation. The viewpoint is found as the point of minimum distance to the set of step rays. To cope with noise, we define an unbiased distance measure. The minimization of the sum of distances provides the viewpoint. We present results of several experiments carried out with 3D images of an old church.