Robust Sampling Consensus
Robustní verze metody RANSAC
Type of document
diplomová práceAuthor
Lebeda Karel
Supervisor
Matas Jiří
Opponent
Werner Tomáš
Field of study
Počítačové vidění a digitální obrazStudy program
Otevřená informatika, navazující (magisterský)Institutions assigning rank
Fakulta elektrotechnickáDefended
2013-01-24 08:00:00.0Rights
A university thesis is a work protected by the Copyright Act. Extracts, copies and transcripts of the thesis are allowed for personal use only and at one’s own expense. The use of thesis should be in compliance with the Copyright Act http://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf and the citation ethics http://www.cvut.cz/sites/default/files/content/d1dc93cd-5894-4521-b799-c7e715d3c59e/cs/20160901-metodicky-pokyn-c-12009-o-dodrzovani-etickych-principu-pri-priprave-vysokoskolskych.pdfVysokoškolská závěrečná práce je dílo chráněné autorským zákonem. Je možné pořizovat z něj na své náklady a pro svoji osobní potřebu výpisy, opisy a rozmnoženiny. Jeho využití musí být v souladu s autorským zákonem http://www.mkcr.cz/assets/autorske-pravo/01-3982006.pdf a citační etikou http://www.cvut.cz/sites/default/files/content/d1dc93cd-5894-4521-b799-c7e715d3c59e/cs/20160901-metodicky-pokyn-c-12009-o-dodrzovani-etickych-principu-pri-priprave-vysokoskolskych.pdf
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Show full item recordAbstract
In this thesis, the problem of robust estimation of a multiple view
geometry in the computer vision is studied. The main focus is put on
random sampling techniques for an estimation of two-view geometries, in
particular homography and epipolar geometry, in a presence of outliers.
After a thorough analysis of LO-RANSAC, several improvements are
proposed to make it more robust to the selection of the inlier/outlier
error threshold and to the number of points. A new estimator, faster,
more accurate and more robust than the state-of-the-art is the result.
The improvements were implemented in the framework of CMP WBS-Demo and
extensively tuned and experimentally tested on diverse data, using a
newly created testing framework. The LO-RANSAC implementation for
homography and epipolar geometry estimation has been separated from the
rest of WBS-Demo and is now publicly available. The datasets were made
available as well, including new manually annotated ground truth point
correspondences.
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