Raghav Subbarao(1,2), Yakup Genc(2) and Peter Meer(1)
(1)Department of Electrical and Computer Engineering
Rutgers University, Piscataway, NJ 08854, USA
(2)Real Time Vision and Modeling Group
Siemens Corporate Research
We propose a new robust estimator for camera pose estimation based
on a recently developed nonlinear mean shift algorithm. This
allows us to treat pose estimation as a clustering problem in the
presence of outliers. We compare our method to RANSAC, which is
the standard robust estimator for computer vision problems. We
also show that under fairly general assumptions our method is
provably better than RANSAC. Synthetic and real examples to
support our claims are provided.
8th IEEE Workshop on Applications of Computer Vision,
Austin, TX, February 2007.
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