RANSAC matching: Simultaneous registration and segmentation

  title={RANSAC matching: Simultaneous registration and segmentation},
  author={Shao-Wen Yang and Chieh-Chih Wang and Chun-Hua Chang},
  journal={2010 IEEE International Conference on Robotics and Automation},
The iterative closest points (ICP) algorithm is widely used for ego-motion estimation in robotics, but subject to bias in the presence of outliers. We propose a random sample consensus (RANSAC) based algorithm to simultaneously achieving robust and realtime ego-motion estimation, and multi-scale segmentation in environments with rapid changes. Instead of directly sampling on measurements, RANSAC matching investigates initial estimates at the object level of abstraction for systematic sampling… CONTINUE READING
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Navlab SLAMMOT Datasets

  • C.-C. Wang, D. Duggins, +5 authors C. Thorpe
  • http://www.csie.ntu.edu.tw/ bobwang/datasets.html…
  • 2004
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