Preemptive RANSAC for live structure and motion estimation

  title={Preemptive RANSAC for live structure and motion estimation},
  author={David Nist{\'e}r},
  journal={Machine Vision and Applications},
  • D. Nistér
  • Published 13 October 2003
  • Computer Science
  • Machine Vision and Applications
A system capable of performing robust live ego-motion estimation for perspective cameras is presented. The system is powered by random sample consensus with preemptive scoring of the motion hypotheses. A general statement of the problem of efficient preemptive scoring is given. Then a theoretical investigation of preemptive scoring under a simple inlier–outlier model is performed. A practical preemption scheme is proposed and it is shown that the preemption is powerful enough to enable robust… 

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