## MLESAC: A New Robust Estimator with Application to Estimating Image Geometry (2000)

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Venue: | Computer Vision and Image Understanding |

Citations: | 268 - 10 self |

### BibTeX

@ARTICLE{Torr00mlesac:a,

author = {P. H. S. Torr and A. Zisserman},

title = {MLESAC: A New Robust Estimator with Application to Estimating Image Geometry},

journal = {Computer Vision and Image Understanding},

year = {2000},

volume = {78},

pages = {2000}

}

### Years of Citing Articles

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### Abstract

A new method is presented for robustly estimating multiple view relations from point correspondences. The method comprises two parts. The first is a new robust estimator MLESAC which is a generalization of the RANSAC estimator. It adopts the same sampling strategy as RANSAC to generate putative solutions, but chooses the solution that maximizes the likelihood rather than just the number of inliers. The second part of the algorithm is a general purpose method for automatically parameterizing these relations, using the output of MLESAC. A difficulty with multiview image relations is that there are often nonlinear constraints between the parameters, making optimization a difficult task. The parameterization method overcomes the difficulty of nonlinear constraints and conducts a constrained optimization. The method is general and its use is illustrated for the estimation of fundamental matrices, image–image homographies, and quadratic transformations. Results are given for both synthetic and real images. It is demonstrated that the method gives results equal or superior to those of previous approaches. c ○ 2000 Academic Press 1.

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Citation Context ...hod may be generalized to the case when the data has arisen from a more general mixture model involving several classes, such as in clustering problems. Preliminary work to illustrate this appears in =-=[32]-=-. There are two trivial extensions to MLESAC that allow the introduction of prior information, although prior information is not used in this paper. The first is to allow a prior Pr(M) on the paramete... |