RANSAC Toolbox by Marco Zuliani
email: marco.zuliani@gmail.com
-------------------------------
Introduction
------------
This is a research (and didactic) oriented toolbox to explore the
RANSAC algorithm. The functions are reasonably well documented and
there is a directory containing examples to estimate 2D lines, 3D
planes, RST transformations and homographies in presence of
outliers. However a previous exposure to the algorithm may be very
helpful in understanding the options available. A tutorial introducing
RANSAC with several examples using this toolbox can be found in the
documentation directory. If you add other examples (i.e. other
estimators) please contact me and we can try to improve the
package. Of course I also expect some feedback regarding the bugs that
might still be present...
How To Start
------------
CD to the root directory (i.e. whatever/RANSAC) and launch the
script SetLocalPath. Then you may start playing around. Give a look to
the folder whatever/RANSAC/Examples where you can find two examples
for the estimation of homographies and lines. Templates for the
estimation functions and the model fitting error functions can be
found in whatever/RANSAC/Models. Run the script RANSAC_update to check
if updates are available and to install them.
Extras
------
Contains the routines to fit lines, planes, rotation/scale/translation
transformations and an homography. Also contains a tutorial/manual
abut RANSAC.
Warning
-------
The examples clear the workspace. I noticed that this practice raised some
concerns by some users in this forum, however I believe that sometimes
(like in this case) it is an appropriate choice.
License
-------
This toolbox is distributed under the terms of the GNU LGPL. Please
refer to the files COPYING and COPYING.LESSER for more information.
Acknowledgments
---------------
I would like to thank the following people for their useful feedback:
Dong Li - pointed out some bug in the example files
Tamar Back - suggested to check the parameter sigma
Frederico Lopes - raised the issue of repeated points in the homography estimation
Jayanth Nayak - pointed out a bug in the estimation of the lines
David Portabella Clotet - pointed out two bugs
Chris Volpe - pointed out a bug in handling ind_tabu and random number seed
Zhe Zang - noted a ill conditioning related warning in the homography
estimation routines
Ali Kalihili - pointed out a typo in the tutorial document
If you plan to use this software package in and referenced published
material (e.g. conferences, journals, workshops...) an acknowledgment
will be greatly appreciated as well as a copy of your publication. Here are a couple
of templates for bibtex:
@misc{Zuliani08a,
author={M. Zuliani},
title={RANSAC toolbox for Matlab},
howpublished={[web page] http://www.mathworks.com/matlabcentral/fileexchange/18555 },
year={Nov. 2008},
note={[Accessed on ## set the date ##]},
}
@techreport{Zuliani08b,
author = "M. Zuliani",
title = "RANSAC for Dummies",
month = "Nov.",
year = "2008"
}
Updates History (Discontinued: check the log on github)
-------------------------------------------------------
- Jul 2014: Added support for parameters structure to be passed to the
evalaution and estiamtion functions (see test_RANSAC_circles.m)
- Jan 2012: Migrating to github. From now on please check the update history
on github.
- Nov 2011: Fixed some bugs in the example scripts.
- August 2011: General fixes. Added affine model.
- 18 October 2009: Fixed a bug in get_minimal_sample_set.m to handle
the tabu indices. Improved RST estimation routines. Major improvement
in the manual/tutorial
- ?? February 2009: Modified the get_consensus_set_cost. Added the
MLESAC mode. Updated the manual/tutorial
- 27 November 2008: Fixed a bug in the parameter check in the error
estimation routines. Added options to validate the MSS, the
parameter vector and to re-estimate the parameters. Added line
estimation routines. Modified the get_minimal_sample_set
function. Added manual/tutorial.
- 29 June 2008: Included the ind_tabu and seed_fix options. Modified
the interface for the estimation routines and the fitting error
routines. Improved the documentation. Some other general
improvements.
- 10 July 2008: Included the routines for 3D plane estimation. Fixed a
bug in the threshold selection for lines. Some other general
improvements and fixes in the help of the functions.
- 25 July 2008: Added self update procedure: RANSAC_update.m
Thanks for your interest,
Marco Zuliani
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A toolbox to experiment with the RANSAC algorithm for Matlab and
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A toolbox to experiment with the RANSAC algorithm for Matlab and Octave.zip
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A toolbox to experiment with the RANSAC algorithm for Matlab and Octave.zip (60个子文件)
新建文件夹
RANSAC-Toolbox-master
VERSION.txt 12B
Examples
test_RANSAC_plane.m 2KB
FundamentalMatrixData.mat 26KB
test_RANSAC_line_02.m 1KB
test_RANSAC_RST.m 3KB
test_RANSAC_fundamental_matrix.m 1KB
test_RANSAC_affine.m 3KB
LineData.mat 18KB
test_RANSAC_circles.m 3KB
test_RANSAC_line_01.m 3KB
test_RANSAC_homography.m 3KB
RANSAC.m 14KB
README.txt 4KB
COPYING.LESSER.txt 7KB
COPYING.txt 34KB
Common
stabilize.m 5KB
chi2inv_LUT.mat 33KB
get_minimal_sample_set.m 4KB
get_iter_RANSAC.m 457B
get_q_RANSAC.m 599B
chi2inv_mathworks
generate_chi2inv_LUT.m 382B
get_consensus_set.m 1KB
chi2inv_LUT.m 1KB
get_rand_prob.m 2KB
get_rand.m 921B
get_consensus_set_rank.m 1KB
Models
estimate_foo.m 1KB
validateTheta_foo.m 390B
Circle
error_circle.m 2KB
estimate_circle.m 1KB
Plane
error_plane.m 2KB
estimate_plane.m 1KB
README.txt 768B
FundamentalMatrix
error_fundamental_matrix.m 2KB
estimate_fundamental_matrix.m 1KB
FundamentalMatrix8Points.m 3KB
error_foo.m 2KB
Line
estimate_line_ML.m 3KB
estimate_line.m 2KB
error_line.m 1KB
validateMSS_foo.m 387B
Affine
error_affine.m 2KB
affineLS.m 2KB
estimate_affine.m 1KB
mapping_affine.m 2KB
validateMSS_affine.m 881B
Homography
mapping_homography.m 1KB
validateMSS_homography.m 4KB
HomographyDLT.m 3KB
estimate_homography.m 1KB
validateTheta_homography.m 543B
error_homography.m 2KB
Common
normalize_points.m 919B
cart2homo.m 648B
homo2cart.m 549B
RST
RSTLS.m 5KB
mapping_RST.m 2KB
error_RST.m 2KB
estimate_RST.m 1KB
SetPathLocal.m 3KB
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