资源简介
RANSAC为RANdom SAmple Consensus的缩写,它是根据一组包含异常数据的样本数据集,计算出数据的数学模型参数,得到有效样本数据的算法。
代码片段和文件信息
function [results options] = RANSAC(X options)
% [results options] = RANSAC(X options)
%
% DESC:
% estimate the vector of parameters Theta using RANSAC (see source [1]
% [2])
%
% VERSION:
% 1.1.5
%
% INPUT:
%
% X = input data. The data id provided as a matrix that has
% dimesnsions 2dxN where d is the data dimensionality
% and N is the number of elements
%
% options = structure containing the following fields:
%
% sigma = noise std
% P_inlier = Chi squared probability threshold for inliers
% (i.e. the probability that an point whose squared
% error is less than T_noise_squared is an inlier)
% (default = 0.99)
% T_noise_squared = Error threshold (overrides sigma)
% epsilon = False Alarm Rate (i.e. the probability we never
% pick a good minimal sample set) (default = 1e-3)
% Ps = sampling probability ( 1 x size(X 2) )
% (default: uniform i.e. Ps is empty)
% ind_tabu = logical array indicating the elements that should
% not be considered to construct the MSS (default
% is empty)
% validateMSS_fun = function that validates a MSS
% Should be in the form of:
%
% flag = validateMSS_foo(X s)
%
% validateTheta_fun = function that validates a parameter vector
% Should be in the form of:
%
% flag = validateTheta_foo(X Theta s)
%
% est_fun = function that estimates Theta.
% Should be in the form of:
%
% [Theta k] = estimate_foo(X s)
%
% man_fun = function that returns the residual error.
% Should be in the form of:
%
% [E T_noise_squared] = man_fun(Theta X)
%
% mode = algorithm flavour
% ‘RANSAC‘ -> Fischler & Bolles
% ‘MSAC‘ -> Torr & Zisserman
%
%
% max_iters = maximum number of iterations (default = inf)
% min_iters = minimum number of iterations (default = 0)
% max_no_updates = maximum number of iterations with no updates
% (default = inf)
% fix_seed = true to fix the seed of the random number
% generator so that the results on the same data
% set are repeatable (default = false)
% reestimate = true to resestimate the parameter vector using
% all the detected inliers
% (default = false)
% verbose = true for verbose output
% (default = true)
% notify_iters = if verbose output is on then print some
%
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