Parametric model fitting: from inlier characterization to outlierdetection
Danuser, G.
Stricker, M.
Marine Biol. Lab., Woods Hole, MA;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Mar 1998
Volume: 20,
Issue: 3
On page(s): 263-280
ISSN: 0162-8828
References Cited: 53
CODEN: ITPIDJ
INSPEC Accession Number: 5903429
Digital Object Identifier: 10.1109/34.667884
Current Version Published: 2002-08-06
Abstract
Presents a framework for the fitting of multiple parametric
models. It comprises of a module for parameter estimation based on a
solution for generalized least squares problems and of a procedure for
error propagation, which takes both the geometric arrangement of the
input data points and their precision into account. The results from
error propagation are used to complement each model parameter with a
precision estimate, to assign an inlier set of data points supporting
the fit to each extracted model, and to determine the a priori unknown
total number of meaningful models in the data. Although the models are
extracted sequentially, the final result is almost independent of the
extraction order. This is achieved by further statistical processing
which controls the mutual exchange of inlier data between the models.
Consequently, sound data classification as well as robust fitting are
guaranteed even in areas where different models intersect or touch each
other. Apart from the input data and its precision, the framework relies
on only one additional control parameter: the confidence level on which
the various statistical tests for data and model classification are
carried out. We demonstrate the algorithmic performance by fitting
straight lines in 2D and planes in 3D with applications to problems of
computer vision and pattern recognition. Synthetic data is used to show
the robustness and accuracy of the scheme. Image data and range data are
used to illustrate its applicability and relevance in respect of
real-world problems, e.g., in the domain of image feature extraction
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