Random Sample Consensus is a powerful paradigm that was successfully applied in various contexts, including Location Determination Problem, fundamental matrix estimation and global 3D surface registration, where many previously proposed algorithms can be interpreted as a particular implementation of this concept. In general, a set of candidate transformations is generated by some simple procedure, and an aligning transformation is chosen within this set, such that it aligns the largest portion of the input data.
We observe that choosing the aligning transformation may also be interpreted as finding consensus among the candidates, which in turn involves measuring similarity of candidate rigid transformations. While it is not difficult to construct a metric that provides reasonable results, most approaches come with certain limitations and drawbacks. In this paper, we investigate possible means of measuring distances in SE(3) and compare their properties both theoretically and experimentally in a model RANSAC registration algorithm. We also propose modifications to existing measures and propose a novel method of locating the consensus transformation based on Vantage Point Tree data structure.
Part 7: NetworkingInternational audienceWith the development of the electronic appliances, there is an increase in the usage of the so called Smart Homes concept. Nowadays, many standards and technologies exist which enable the control of the related home appliances. However, the common devices that support only the handeling via a controller on the basis of infrared transfer are not possible to be operated by these systems. In practical environment, the suggested solution is able to replace the function of such controllers and enable the user to operate the given devices using a website application that is available for example through a smartphone. The part of the solution is the interface for the connection of the application to current Smart Home systems and an intelligent recognition and an automatisation of user’s actions with controllers. The result of the implementation is a functional prototype
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