On evaluating consensus in RANSAC surface registration
Identifikátory výsledku
Kód výsledku v IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F49777513%3A23520%2F19%3A43955833" target="_blank" >RIV/49777513:23520/19:43955833 - isvavai.cz</a>
Výsledek na webu
<a href="https://onlinelibrary.wiley.com/doi/10.1111/cgf.13798" target="_blank" >https://onlinelibrary.wiley.com/doi/10.1111/cgf.13798</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1111/cgf.13798" target="_blank" >10.1111/cgf.13798</a>
Alternativní jazyky
Jazyk výsledku
angličtina
Název v původním jazyce
On evaluating consensus in RANSAC surface registration
Popis výsledku v původním jazyce
Random Sample Consensus is a powerful paradigm that was successfully applied in various contexts, including Location Determination Problem, fundamental matrix estimation and global 3D surface registration, where many previously proposed algorithms can be interpreted as a particular implementation of this concept. In general, a set of candidate transformations is generated by some simple procedure, and an aligning transformation is chosen within this set, such that it aligns the largest portion of the input data. We observe that choosing the aligning transformation may also be interpreted as finding consensus among the candidates, which in turn involves measuring similarity of candidate rigid transformations. While it is not difficult to construct a metric that provides reasonable results, most approaches come with certain limitations and drawbacks. In this paper, we investigate possible means of measuring distances in SE(3) and compare their properties both theoretically and experimentally in a model RANSAC registration algorithm. We also propose modifications to existing measures and propose a novel method of locating the consensus transformation based on Vantage Point Tree data structure.
Název v anglickém jazyce
On evaluating consensus in RANSAC surface registration
Popis výsledku anglicky
Random Sample Consensus is a powerful paradigm that was successfully applied in various contexts, including Location Determination Problem, fundamental matrix estimation and global 3D surface registration, where many previously proposed algorithms can be interpreted as a particular implementation of this concept. In general, a set of candidate transformations is generated by some simple procedure, and an aligning transformation is chosen within this set, such that it aligns the largest portion of the input data. We observe that choosing the aligning transformation may also be interpreted as finding consensus among the candidates, which in turn involves measuring similarity of candidate rigid transformations. While it is not difficult to construct a metric that provides reasonable results, most approaches come with certain limitations and drawbacks. In this paper, we investigate possible means of measuring distances in SE(3) and compare their properties both theoretically and experimentally in a model RANSAC registration algorithm. We also propose modifications to existing measures and propose a novel method of locating the consensus transformation based on Vantage Point Tree data structure.
Klasifikace
Druh
J<sub>imp</sub> - Článek v periodiku v databázi Web of Science
CEP obor
—
OECD FORD obor
10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)
Návaznosti výsledku
Projekt
<a href="/cs/project/LO1506" target="_blank" >LO1506: Podpora udržitelnosti centra NTIS - Nové technologie pro informační společnost</a><br>
Návaznosti
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Ostatní
Rok uplatnění
2019
Kód důvěrnosti údajů
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Údaje specifické pro druh výsledku
Název periodika
Computer Graphics Forum
ISSN
1467-8659
e-ISSN
—
Svazek periodika
38
Číslo periodika v rámci svazku
5
Stát vydavatele periodika
GB - Spojené království Velké Británie a Severního Irska
Počet stran výsledku
12
Strana od-do
175-186
Kód UT WoS článku
000480541100014
EID výsledku v databázi Scopus
2-s2.0-85070444843