MDPE: A Very Robust Estimator for Model Fitting and Range Image Segmentation

  title={MDPE: A Very Robust Estimator for Model Fitting and Range Image Segmentation},
  author={Hanzi Wang and David Suter},
  journal={International Journal of Computer Vision},
In this paper, we propose a novel and highly robust estimator, called MDPE1 (Maximum Density Power Estimator). This estimator applies nonparametric density estimation and density gradient estimation techniques in parametric estimation (“model fitting”). MDPE optimizes an objective function that measures more than just the size of the residuals. Both the density distribution of data points in residual space and the size of the residual corresponding to the local maximum of the density… CONTINUE READING
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