MLESAC: A New Robust Estimator with Application to Estimating Image Geometry

@article{Torr2000MLESACAN,
  title={MLESAC: A New Robust Estimator with Application to Estimating Image Geometry},
  author={Philip H. S. Torr and Andrew Zisserman},
  journal={Computer Vision and Image Understanding},
  year={2000},
  volume={78},
  pages={138-156}
}
A new method is presented for robustly estimating multiple v iew relations from point correspondences. The method comprises two parts, the first is a new robust estimatorMLESAC which is a generalization of the RANSAC estimator. It adopts the same sampling strategy as RANSAC to generate putative solutions, but chooses the solution to maximize the likelihood rather than just the number of inliers. The second part to the algorithm is a general purpose m ethod for automatically parametrizing these… CONTINUE READING
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