Robust pose estimation

  • Paul L. Rosin
  • Published 1999 in IEEE Trans. Systems, Man, and Cybernetics, Part B


Standard least-squares (LS) methods for pose estimation of objects are sensitive to outliers which can occur due to mismatches. Even a single mismatch can severely distort the estimated pose. This paper describes a least-median of squares (LMedS) approach to estimating pose using point matches. It is both robust (resistant to up to 50% outliers) and… (More)
DOI: 10.1109/3477.752804


Cite this paper

@article{Rosin1999RobustPE, title={Robust pose estimation}, author={Paul L. Rosin}, journal={IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society}, year={1999}, volume={29 2}, pages={297-303} }