Abstract:A robust estimation method, Balanced Least Absolute Value Estimator (BLAVE), is introduced and compared with the traditional RANdom SAmple Consensus (RANSAC) method. The comparison is performed empirically by applying both estimators on the camera motion parameters estimation problem. A linearised model for this estimation problem is derived.The tests were performed on a simulated scene with added random noise and gross errors as well as on actual images taken by a mobile mapping system. The greatest advantage… Show more
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