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Experiments with robust estimation techniques in real-time robot vision

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2 Author(s)
Malis, E. ; INRIA, Sophia-Antipolis ; Marchand, E.

The goal of this paper is to present an overview of robust estimation techniques with a special focus on robotic vision applications. In this particular context, constraints due computation time have to be considered in the choice of the estimation algorithm. Among the numerous techniques proposed in the literature to obtained robust estimation we have, not being exhaustive, Hough transform, RANSAC (Random Sample Consensus), the LMedS (Least Median of Squares), the M-estimators, etc. In this overview, we describe these various approaches in the light of a simple example. Finally, we illustrate the use of robust estimation techniques by various examples in real-time robot vision

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

Oct. 2006