Simplified 3D motion estimation with point correspondences
Tao Wang, Xiaoliang Xing, Xinhua Zhuang · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1993
A robust estimator, called simplified MF-estimator, to determine 3-D motion parameters is investigated in the paper. According to the Bayesian decision rule, it partitions a given data set into a subset containing good observations and a subset containing bad observations. The estimator can implement a least-squares estimator on the good data, and down-weight the outliers. To speed convergence of the algorithm, an annealing schedule is used. Finally, a great number of simulations are conducted to show robustness of this algorithm.