TY  - CONF
ID  - moreno2013erode
T1  - ERODE: An Efficient and Robust Outlier Detector and its Application to Stereovisual Odometry
A1  - Moreno, Francisco-Angel
A1  - Blanco, José-Luis
A1  - Gonzalez-Jimenez, Javier
TI  - IEEE International Conference on Robotics and Automation (ICRA)
Y1  - 2013
SP  - 4676
EP  - 4682
PB  - IEEE
CY  - Karlsruhe
SN  - 978-1-4673-5641-1
SN  - 1050-4729
UR  - http://mapir.isa.uma.es/mapirwebsite/index.php/mapir-downloads/papers/211
M2  - doi: 10.1109/ICRA.2013.6631245
N2  - This paper presents ERODE, an efficient outlier detector with a quality similar to that of standard RANSAC but at a fraction of its computational cost. In contrast to RANSAC-based methods which follow a hypothesis-and-verify approach, ERODE employs instead the whole set of observations together with a robust kernel to perform robustified least-squares minimization. Our proposal has important practical applications among computer vision problems, which we demonstrate with stereovisual odometry experiments with both simulated and real data.
M1  - http://mapir.isa.uma.es/famoreno/images/papers/erode_thumbnail.png
ER  -