Improving RANSAC for Fast Landmark Recognition. Workshop on Visual Localization for Mobile Platforms

Márquez Neila, Pablo and García Miró, Jacobo and Buenaposada Biencinto, José Miguel and Baumela Molina, Luis (2008). Improving RANSAC for Fast Landmark Recognition. Workshop on Visual Localization for Mobile Platforms. In: "Computer Vision and Pattern Recognition Workshops 2008, CVPR Workshops 2008.", 24/06/2008-28/06/2008, Alaska, USA. ISBN 978-1-4244-2340-8. pp.. https://doi.org/10.1109/CVPRW.2008.4563138.

Description

Title: Improving RANSAC for Fast Landmark Recognition. Workshop on Visual Localization for Mobile Platforms
Author/s:
  • Márquez Neila, Pablo
  • García Miró, Jacobo
  • Buenaposada Biencinto, José Miguel
  • Baumela Molina, Luis
Item Type: Presentation at Congress or Conference (Article)
Event Title: Computer Vision and Pattern Recognition Workshops 2008, CVPR Workshops 2008.
Event Dates: 24/06/2008-28/06/2008
Event Location: Alaska, USA
Title of Book: Proceedings of the Computer Vision and Pattern Recognition Workshops 2008, CVPR Workshops 2008
Date: 2008
ISBN: 978-1-4244-2340-8
Subjects:
Faculty: Facultad de Informática (UPM)
Department: Inteligencia Artificial
Creative Commons Licenses: Recognition - No derivative works - Non commercial

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Abstract

We introduce a procedure for recognizing and locating planar landmarks for mobile robot navigation, based in the detection and recognition of a set of interest points. We use RANSAC for fitting a homography and locating the land mark. Our main contribution is the introduction of a geometrical constraint that reduces the number of RANSAC iterations by discarding minimal subsets. In the experiments conducted we conclude that this constraint increases RANSAC performance by reducing in about 35% and 75%the number of iterations for affine and projective cameras, respectively.

More information

Item ID: 4831
DC Identifier: http://oa.upm.es/4831/
OAI Identifier: oai:oa.upm.es:4831
DOI: 10.1109/CVPRW.2008.4563138
Official URL: http://ieeexplore.ieee.org/search/srchabstract.jsp?tp=&arnumber=4587339&queryText%3DCVPR+2008%26openedRefinements%3D*%26searchField%3DSearch+All
Deposited by: Memoria Investigacion
Deposited on: 05 Nov 2010 11:33
Last Modified: 20 Apr 2016 13:53
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