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A fast sequential approach to robust surface parameter estimation
Joint Authors
Mirza, Muhammad J.
Boyer, Kim L.
Source
The Arabian Journal for Science and Engineering
Issue
Vol. 21, Issue 1 (31 Jan. 1996), pp.99-117, 19 p.
Publisher
King Fahd University of Petroleum and Minerals
Publication Date
1996-01-31
Country of Publication
Saudi Arabia
No. of Pages
19
Main Subjects
Abstract EN
In this paper we p©se the problem of surface curvature computation as parameter estimation.
A robust sequential functional approximation (RSFA) approach is developed to compute the parameters of surfaces in noisy range data, modeled by a linear set of parameters.
At the heart of our scheme is the Robust Sequential Estimator (RSE) whose basic philosophy is to compute the parameters using the entire data set belonging to a surface patch without sacrificing speed and to model the errors by a heavy tailed distribution to handle the Gaussian noise and the outliers or extreme deviations, simultaneously.
Given a seed point on the object surface, the algorithm obtains a least squares estimates of the parameter vector in a small neighborhood.
Robustification of the estimated parameters is carried out using iteratively reweighted least squares (IRLS).
The weights are obtained by maximum likelihood (ML) analyses when it is supposed that, rather than following a normal distribution, the errors follow a ؛-distribution having degree of freedom/.
With the robust initial estimates, the RSE grows the surface until it encounters another surface whose data points are regarded as outliers with respect to the current surface data and hence are rejected.
We demonstrate the accuracy, speed of convergence, and immunity to large deviations of a ء distribution model by comparing its performance with the least squares (LS) and Least Median of Squares (LMS).
We demonstrate the potential application of our scheme in simultaneous parameterization and organization of surfaces in noisy, outlier ridden real data.
American Psychological Association (APA)
Mirza, Muhammad J.& Boyer, Kim L.. 1996. A fast sequential approach to robust surface parameter estimation. The Arabian Journal for Science and Engineering،Vol. 21, no. 1, pp.99-117.
https://search.emarefa.net/detail/BIM-559373
Modern Language Association (MLA)
Mirza, Muhammad J.& Boyer, Kim L.. A fast sequential approach to robust surface parameter estimation. The Arabian Journal for Science and Engineering Vol. 21, no. 1 (Jan. 1996), pp.99-117.
https://search.emarefa.net/detail/BIM-559373
American Medical Association (AMA)
Mirza, Muhammad J.& Boyer, Kim L.. A fast sequential approach to robust surface parameter estimation. The Arabian Journal for Science and Engineering. 1996. Vol. 21, no. 1, pp.99-117.
https://search.emarefa.net/detail/BIM-559373
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 116-117
Record ID
BIM-559373