Random sample consensus
1981/06/01 by Martin A. Fischler, Robert C. Bolles · 536 citations
Computer Science · Engineering · #Machine Learning and Algorithms #Advanced Image and Video Retrieval Techniques #Robotics and Sensor-Based Localization
paper · pdf · doi:10.1145/358669.358692
Abstract
A new paradigm, Random Sample Consensus (RANSAC), for fitting a model to experimental data is introduced. RANSAC is capable of interpreting/smoothing data containing a significant percentage of gross errors, and is thus ideally suited for applications in automated image analysis where interpretation is based on the data provided by error-prone feature detectors. A major portion of this paper describes the application of RANSAC to the Location Determination Problem (LDP): Given an image depicting a set of landmarks with known locations, determine that point in space from which the image was obtained. In response to a RANSAC requirement, new results are derived on the minimum number of landmarks needed to obtain a solution, and algorithms are presented for computing these minimum-landmark solutions in closed form. These results provide the basis for an automatic system that can solve the LDP under difficult viewing
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- Loc2: Interpretable Cross-View Localization via Depth-Lifted Local Feature Matching
- On the Robust PCA and Weiszfeld's Algorithm
- Localization using Angle-of-Arrival Triangulation
- An Analysis of Parallelized Motion Masking Using Dual-Mode Single\n Gaussian Models
- 3D Point Cloud Registration with Multi-Scale Architecture and\n Unsupervised Transfer Learning
- Understanding the Limitations of CNN-based Absolute Camera Pose\n Regression
- Zero-Shot Metric Depth Estimation via Monocular Visual-Inertial Rescaling for Autonomous Aerial Navigation
- Cell identification in whole-brain multiview images of neural activation
- DymSLAM:4D Dynamic Scene Reconstruction Based on Geometrical Motion Segmentation
- EDFFDNet: Towards Accurate and Efficient Unsupervised Multi-Grid Image Registration
- Australian Supermarket Object Set (ASOS): A Benchmark Dataset of Physical Objects and 3D Models for Robotics and Computer Vision
- Aerial-ground Cross-modal Localization: Dataset, Ground-truth, and Benchmark
- Intraoperative 2D/3D Registration via Spherical Similarity Learning and Differentiable Levenberg-Marquardt Optimization
- Stereovision Image Processing for Planetary Navigation Maps with Semi-Global Matching and Superpixel Segmentation
- A new versatile method for the reconstruction of scintillator-based muon telescope events
- Direct Image to Point Cloud Descriptors Matching for 6-DOF Camera\n Localization in Dense 3D Point Cloud
- Can generalised relative pose estimation solve sparse 3D registration?
- ApolloCar3D: A Large 3D Car Instance Understanding Benchmark for Autonomous Driving
- A review on absolute visual localization for UAV
- Cryptocurrencies and Interest Rates: Inferring Yield Curves in a Bondless Market
- Enhancing Gradient Variance and Differential Privacy in Quantum Federated Learning
- 3D Surfel Map-Aided Visual Relocalization with Learned Descriptors
- Learning-based Natural Geometric Matching with Homography Prior
- Generative Adversarial Frontal View to Bird View Synthesis
- Efficient Pipelines for Vision-Based Context Sensing
- Affordance-Based Mobile Robot Navigation Among Movable Obstacles
- Motion Basis Learning for Unsupervised Deep Homography Estimation with Subspace Projection
- SENSAAS (SENsitive Surface As A Shape): utilizing open-source algorithms for 3D point cloud alignment of molecules
- Automatic creation of urban velocity fields from aerial video
- SR-SLAM: Scene-reliability Based RGB-D SLAM in Diverse Environments
- Model Quality Aware RANSAC: A Robust Camera Motion Estimator
- Content-Aware Unsupervised Deep Homography Estimation
- Manipulating Machine Learning: Poisoning Attacks and Countermeasures for Regression Learning
- Real-time Monocular Object SLAM
- Teaching Robots to Do Object Assembly using Multi-modal 3D Vision
- Radially Distorted Homographies, Revisited
- Conditional Linear Regression for Heterogeneous Covariances
- DynaMiTe: A Dynamic Local Motion Model with Temporal Constraints for Robust Real-Time Feature Matching
- Seam360GS: Seamless 360° Gaussian Splatting from Real-World Omnidirectional Images
- Autonomous Social Distancing in Urban Environments using a Quadruped Robot
- It's Moving! A Probabilistic Model for Causal Motion Segmentation in\n Moving Camera Videos
- RegNet: Learning the Optimization of Direct Image-to-Image Pose Registration
- Large-Scale Image Retrieval with Attentive Deep Local Features
- Optical Flow Based Real-time Moving Object Detection in Unconstrained Scenes
- RynnEC: Bringing MLLMs into Embodied World
- Blast Hole Seeking and Dipping -- The Navigation and Perception Framework in a Mine Site Inspection Robot
- FS-Net: Fast Shape-based Network for Category-Level 6D Object Pose Estimation with Decoupled Rotation Mechanism
- Temporal and Rotational Calibration for Event-Centric Multi-Sensor Systems
- Refined Plane Segmentation for Cuboid-Shaped Objects by Leveraging Edge Detection
- Enhancing 3D point accuracy of laser scanner through multi-stage convolutional neural network for applications in construction
- DynamicPose: Real-time and Robust 6D Object Pose Tracking for Fast-Moving Cameras and Objects
- MOS: A Low Latency and Lightweight Framework for Face Detection, Landmark Localization, and Head Pose Estimation
- Unifying Scale-Aware Depth Prediction and Perceptual Priors for Monocular Endoscope Pose Estimation and Tissue Reconstruction
- Improved RANSAC performance using simple, iterative minimal-set solvers
- Inferring 3D Articulated Models for Box Packaging Robot
- Super LiDAR Reflectance for Robotic Perception
- A Sub-Pixel Multimodal Optical Remote Sensing Images Matching Method
- VIFSS: View-Invariant and Figure Skating-Specific Pose Representation Learning for Temporal Action Segmentation
- Convolutional Hough Matching Networks for Robust and Efficient Visual Correspondence
- Structure-Aware Network for Lane Marker Extraction with Dynamic Vision Sensor
- Automated Segmentation of Coronal Brain Tissue Slabs for 3D Neuropathology
- Plane Detection and Ranking via Model Information Optimization
- Generalizing to the Open World: Deep Visual Odometry with Online Adaptation
- Event-driven Robust Fitting on Neuromorphic Hardware
- Deep Learning for Single-View Instance Recognition
- Cross-View Localization via Redundant Sliced Observations and A-Contrario Validation
- Separable Four Points Fundamental Matrix
- Deep Learning-based Scalable Image-to-3D Facade Parser for Generating Thermal 3D Building Models
- DOMR: Establishing Cross-View Segmentation via Dense Object Matching
- Semantic Mosaicing of Histo-Pathology Image Fragments using Visual Foundation Models
- Multiscale Dictionary Learning: Non-Asymptotic Bounds and Robustness
- COFFEE: A Shadow-Resilient Real-Time Pose Estimator for Unknown Tumbling Asteroids using Sparse Neural Networks
- A Review of Visual Odometry Methods and Its Applications for Autonomous Driving
- Inland-LOAM: Voxel-Based Structural Semantic LiDAR Odometry and Mapping for Inland Waterway Navigation
- Correspondence-Free Fast and Robust Spherical Point Pattern Registration
- Unified Category-Level Object Detection and Pose Estimation from RGB Images using 3D Prototypes
- A Simple Algebraic Solution for Estimating the Pose of a Camera from Planar Point Features
- P3P Made Easy
- No Pose at All: Self-Supervised Pose-Free 3D Gaussian Splatting from Sparse Views
- GeoMoE: Divide-and-Conquer Motion Field Modeling with Mixture-of-Experts for Two-View Geometry
- Learning Arbitrary-Scale RAW Image Downscaling with Wavelet-based Recurrent Reconstruction
- VMatcher: State-Space Semi-Dense Local Feature Matching
- An Artificial Intelligence-Based System to Assess Nutrient Intake for Hospitalised Patients
- A Certifably Correct Algorithm for Generalized Robot-World and Hand-Eye Calibration
- DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion
- MatchBench: An Evaluation of Feature Matchers
- Modality-Aware Feature Matching: A Comprehensive Review of Single- and Cross-Modality Techniques
- A Linear N-Point Solver for Structure and Motion from Asynchronous Tracks
- DFC: Deep Feature Consistency for Robust Point Cloud Registration
- Estimating 2D Camera Motion with Hybrid Motion Basis
- Ov3R: Open-Vocabulary Semantic 3D Reconstruction from RGB Videos
- PanoSplatt3R: Leveraging Perspective Pretraining for Generalized Unposed Wide-Baseline Panorama Reconstruction
- ST-DAI: Single-shot 2.5D Spatial Transcriptomics with Intra-Sample Domain Adaptive Imputation for Cost-efficient 3D Reconstruction
- Monitoring the optical quality of the FACT Cherenkov Telescope
- PixelNav: Towards Model-based Vision-Only Navigation with Topological Graphs
- Outlier Detection Algorithm for Circle Fitting
- FMimic: Foundation Models are Fine-grained Action Learners from Human Videos
- GSLAM: A General SLAM Framework and Benchmark
- From Gallery to Wrist: Realistic 3D Bracelet Insertion in Videos
- Globally optimal consensus maximization for robust visual inertial localization in point and line map
- Massive MIMO-based Localization and Mapping Exploiting Phase Information of Multipath Components
- Maximum Consensus Parameter Estimation by Reweighted ℓ1 Methods
- VESPA: Towards un(Human)supervised Open-World Pointcloud Labeling for Autonomous Driving
- RARE: Refine Any Registration of Pairwise Point Clouds via Zero-Shot Learning
- Submap-based Pose-graph Visual SLAM: A Robust Visual Exploration and Localization System
- Geometric Proxies for Live RGB-D Stream Enhancement and Consolidation
- 6-DoF Object Pose from Semantic Keypoints
- Cross Spatial Temporal Fusion Attention for Remote Sensing Object Detection via Image Feature Matching
- Dealing with Segmentation Errors in Needle Reconstruction for MRI-Guided Brachytherapy
- TROVE Feature Detection for Online Pose Recovery by Binocular Cameras
- Superpixel-based Two-view Deterministic Fitting for Multiple-structure Data
- Improving the HardNet Descriptor
- GPU-Based Computation of 2D Least Median of Squares with Applications to Fast and Robust Line Detection
- Structure from Motion for Panorama-Style Videos
- An Artificial Intelligence-Based System for Nutrient Intake Assessment of Hospitalised Patients
- End-to-end learning of keypoint detection and matching for relative pose estimation
- Unsupervised Domain Adaptation for 3D LiDAR Semantic Segmentation Using Contrastive Learning and Multi-Model Pseudo Labeling
- Real Time Incremental Foveal Texture Mapping for Autonomous Vehicles
- Robust Place Recognition using an Imaging Lidar
- MZmine 2: modular framework for processing, visualizing, and analyzing mass spectrometry-based molecular profile data. [europepmc]
- High-resolution fiber tract reconstruction in the human brain by means of three-dimensional polarized light imaging. [europepmc]
- scikit-image: image processing in Python. [europepmc]
- DistancePPG: Robust non-contact vital signs monitoring using a camera. [europepmc]
- The PREP pipeline: standardized preprocessing for large-scale EEG analysis. [europepmc]
- Automated Low-Cost Smartphone-Based Lateral Flow Saliva Test Reader for Drugs-of-Abuse Detection. [europepmc]
- Multi-modal automatic montaging of adaptive optics retinal images. [europepmc]
- In Vivo Photoacoustic Imaging of Anterior Ocular Vasculature: A Random Sample Consensus Approach. [europepmc]
- Pose Estimation of a Mobile Robot Based on Fusion of IMU Data and Vision Data Using an Extended Kalman Filter. [europepmc]
- Computer vision analysis captures atypical attention in toddlers with autism. [europepmc]
- Active and inactive β1 integrins segregate into distinct nanoclusters in focal adhesions. [europepmc]
- Registration of Laser Scanning Point Clouds: A Review. [europepmc]
- Survival of the most transferable at the top of Jacob's ladder: Defining and testing the ωB97M(2) double hybrid density functional. [europepmc]
- Accurate calculation of side chain packing and free energy with applications to protein molecular dynamics. [europepmc]
- Digital staining through the application of deep neural networks to multi-modal multi-photon microscopy. [europepmc]
- Laparoscopic system for simultaneous high-resolution video and rapid hyperspectral imaging in the visible and near-infrared spectral range. [europepmc]
- Automated markerless pose estimation in freely moving macaques with OpenMonkeyStudio. [europepmc]
- Osmolarity-independent electrical cues guide rapid response to injury in zebrafish epidermis. [europepmc]
- Whole-brain tissue mapping toolkit using large-scale highly multiplexed immunofluorescence imaging and deep neural networks. [europepmc]
- A guide to pre-processing high-throughput animal tracking data. [europepmc]
- Eye tracking: empirical foundations for a minimal reporting guideline. [europepmc]
- RS-FISH: precise, interactive, fast, and scalable FISH spot detection. [europepmc]
- Multiplexed single-cell 3D spatial gene expression analysis in plant tissue using PHYTOMap. [europepmc]
- Virtual alignment of pathology image series for multi-gigapixel whole slide images. [europepmc]
- Rapid groundwater decline and some cases of recovery in aquifers globally. [europepmc]
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