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.
Type de document :
Communication dans un congrès
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, IROS'06, 2006, Beijing, China. pp.223-228, 2006
Liste complète des métadonnées

Littérature citée [24 références]  Voir  Masquer  Télécharger

https://hal.inria.fr/inria-00350297
Contributeur : Eric Marchand <>
Soumis le : mardi 6 janvier 2009 - 13:58:41
Dernière modification le : jeudi 15 novembre 2018 - 11:57:06
Document(s) archivé(s) le : mardi 8 juin 2010 - 17:01:11

Fichier

2006_iros_malis.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : inria-00350297, version 1

Citation

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, 2006. 〈inria-00350297〉

Partager

Métriques

Consultations de la notice

573

Téléchargements de fichiers

193