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Experiments with robust estimation techniques in real-time robot vision

Ezio Malis 1 Eric Marchand 2
1 ICARE - Instrumentation, control and architecture of advanced robots
CRISAM - Inria Sophia Antipolis - Méditerranée
2 Lagadic - Visual servoing in robotics, computer vision, and augmented reality
CRISAM - Inria Sophia Antipolis - Méditerranée , Inria Rennes – Bretagne Atlantique , IRISA-D5 - SIGNAUX ET IMAGES NUMÉRIQUES, ROBOTIQUE
Abstract : The goal of this paper is to present an overview of robust estimation techniques with a special focus on robotic vision applications. In this particular context, constraints due computation time have to be considered in the choice of the estimation algorithm. Among the numerous techniques proposed in the literature to obtained robust estimation we have, not being exhaustive, Hough transform, RANSAC (Random Sample Consensus), the LMedS (Least Median of Squares), the M-estimators, etc. In this overview, we describe these various approaches in the light of a simple example. Finally, we illustrate the use of robust estimation techniques by various examples in real-time robot vision.
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Ezio Malis, Eric Marchand. Experiments with robust estimation techniques in real-time robot vision. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'06, 2006, Beijing, China. pp.223-228. ⟨inria-00350297⟩

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