Robust regression and outlier detection
Robust regression and outlier detection
Self-calibration from multiple views with a rotating camera
ECCV '94 Proceedings of the third European conference on Computer vision (vol. 1)
Affine analysis of image sequences
Affine analysis of image sequences
Canonical representations for the geometries of multiple projective views
Computer Vision and Image Understanding
The Development and Comparison of Robust Methodsfor Estimating the Fundamental Matrix
International Journal of Computer Vision
Robust detection of degenerate configurations while estimating the fundamental matrix
Computer Vision and Image Understanding
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
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Epipolar Geometry in Stereo, Motion, and Object Recognition: A Unified Approach
Object recognition based on photometric alignment using ransac
CVPR'03 Proceedings of the 2003 IEEE computer society conference on Computer vision and pattern recognition
Segmentation of Rigid Motion from Non-rigid 2D Trajectories
IbPRIA '07 Proceedings of the 3rd Iberian conference on Pattern Recognition and Image Analysis, Part I
ECCV '08 Proceedings of the 10th European Conference on Computer Vision: Part I
Pose tracking from natural features on mobile phones
ISMAR '08 Proceedings of the 7th IEEE/ACM International Symposium on Mixed and Augmented Reality
Active matching for visual tracking
Robotics and Autonomous Systems
Robust and efficient feature tracking for indoor navigation
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Maximum Likelihood Estimation Sample Consensus with Validation of Individual Correspondences
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Efficient Random Sampling for Nonrigid Feature Matching
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Revisiting the PnP Problem with a GPS
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part I
Adaptive Sample Consensus for Efficient Random Optimization
ISVC '09 Proceedings of the 5th International Symposium on Advances in Visual Computing: Part II
Model Fitting with Sufficient Random Sample Coverage
International Journal of Computer Vision
Rejecting Mismatches by Correspondence Function
International Journal of Computer Vision
Hill climbing algorithm for random sample consensus methods
ISVC'07 Proceedings of the 3rd international conference on Advances in visual computing - Volume Part I
Non-rigid metric reconstruction from perspective cameras
Image and Vision Computing
Accelerated hypothesis generation for multi-structure robust fitting
ECCV'10 Proceedings of the 11th European conference on Computer vision: Part V
Fast parallel model estimation on the cell broadband engine
ISVC'10 Proceedings of the 6th international conference on Advances in visual computing - Volume Part II
Efficient multi-structure robust fitting with incremental top-k lists comparison
ACCV'10 Proceedings of the 10th Asian conference on Computer vision - Volume Part IV
Using grid based feature localization for fast image matching
ICIAR'11 Proceedings of the 8th international conference on Image analysis and recognition - Volume Part I
Better correspondence by registration
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part III
Bifocal matching using multiple geometrical solutions
PSIVT'11 Proceedings of the 5th Pacific Rim conference on Advances in Image and Video Technology - Volume Part II
Self-calibration of wireless cameras with restricted degrees of freedom
Computer Vision and Image Understanding
Mode seeking over permutations for rapid geometric model fitting
Pattern Recognition
Enhanced RANSAC sampling based on non-repeating combinations
Proceedings of the 27th Conference on Image and Vision Computing New Zealand
Jointly compatible pair linking for visual tracking with probabilistic priors
ACSC '11 Proceedings of the Thirty-Fourth Australasian Computer Science Conference - Volume 113
A simultaneous sample-and-filter strategy for robust multi-structure model fitting
Computer Vision and Image Understanding
Sampling Minimal Subsets with Large Spans for Robust Estimation
International Journal of Computer Vision
ReigSAC: fast discrimination of spurious keypoint correspondences on planar surfaces
Machine Vision and Applications
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MLESAC is an established algorithm for maximum-likelihood estimation by random sampling consensus, devised for computing multiview entities like the fundamental matrix from correspondences between image features. A shortcoming of the method is that it assumes that little is known about the prior probabilities of the validities of the correspondences. This paper explains the consequences of that omission and describes how the algorithm's theoretical standing and practical performance can be enhanced by deriving estimates of these prior probabilities. Using the priors in guided-MLESAC is found to give an order of magnitude speed increase for problems where the correspondences are described by one image transformation and clutter. This paper describes two further modifications to guided-MLESAC. The first shows how all putative matches, rather than just the best, from a particular feature can be taken forward into the sampling stage, albeit at the expense of additional computation. The second suggests how to propagate the output from one frame forward to successive frames. The additional information makes guided-MLESAC computationally realistic at video-rates for correspondence sets modeled by two transformations and clutter.