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典型文献
RANSACs for 3D Rigid Registration:A Comparative Evaluation
文献摘要:
Estimating an accurate six-degree-of-freedom(6-DoF)pose from correspondences with outliers remains a critical issue to 3D rigid registration.Random sample consensus(RANSAC)and its variants are popular solutions to this problem.Although there have been a number of RANSAC-fashion estima-tors,two issues remain unsolved.First,it is unclear which estima-tor is more appropriate to a particular application.Second,the impacts of different sampling strategies,hypothesis generation methods,hypothesis evaluation metrics,and stop criteria on the overall estimators remain ambiguous.This work fills these gaps by first considering six existing RANSAC-fashion methods and then proposing eight variants for a comprehensive evaluation.The objective is to thoroughly compare estimators in the RANSAC family,and evaluate the effects of each key stage on the eventual 6-DoF pose estimation performance.Experiments have been carried out on four standard datasets with different applica-tion scenarios,data modalities,and nuisances.They provide us with input correspondence sets with a variety of inlier ratios,spa-tial distributions,and scales.Based on the experimental results,we summarize remarkable outcomes and valuable findings,so as to give practical instructions to real-world applications,and high-light current bottlenecks and potential solutions in this research realm.
文献关键词:
作者姓名:
Jiaqi Yang;Zhiqiang Huang;Siwen Quan;Zhiguo Cao;Yanning Zhang
作者机构:
National Engineering Laboratory for Integrated Aero-Space-Ground-Ocean Big Data Application Technology,School of Computer Science,Northwestern Polytechnical University,Xi'an 710072,China;School of Electronic and Control Engineering,Chang'an University,Xi'an 710064,China;School of Artificial Intelligence and Automation,Huazhong University of Science and Technology,Wuhan 430074,China
引用格式:
[1]Jiaqi Yang;Zhiqiang Huang;Siwen Quan;Zhiguo Cao;Yanning Zhang-.RANSACs for 3D Rigid Registration:A Comparative Evaluation)[J].自动化学报(英文版),2022(10):1861-1878
A类:
RANSACs,nuisances
B类:
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AB值:
0.645402
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