Implementing a Multi-Model Estimation Method

摘要

We revisit the problem of parameter estimation in computer vision, reconsidering and implementing what may be called the Kanatani's estimation method, presented here as a simple optimisation problem, so (a) without any direct reference to a probabilistic framework but (b) considering (i) non-linear implicit measurement equations and parameter constraints, plus (ii) robust estimation in the presence of outliers and (iii) multi-model comparisons.