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- 1. Preemptive RANSAC for LiveStructure and Motion Estimation by David Nister, Machine vision and applications(J) in 2005, 261citations. 2nd/June/2011 presented Inkyu.Sa
- 2. ContentsWhat is RANSAC?Preemptive RANSACResultsMy thought
- 3. What is RANSAC ? Random sample consensus. Observation Estimate modelSource from wikipedia OutliersLO-RANSACPreemptive RANSAC InliersDEGENSACPROSACMLESAC, NAPSAC etc.
- 4. What is RANSAC ? Random sample consensus.Observation Estimate modelSource from wikipedia Outliers Inliers Source from AFMR, Machine Learning Reinforcement learning Use rewards and interaction with the environment to learn
- 5. Why do we use RANSAC ?It is possible estimate robust parameters of model.There are many noise in out real environments. What are disadvantages of RANSAC?It takes long time to calculate parameters withoutboundary condition.Therefore, threshold and max iteration are required.
- 6. How does RANSAC work?We have this observation data set.
- 7. How does RANSAC work?We have this observation data set. Randomly choose any two points and create a hypothesis.
- 8. How does RANSAC work?Randomly choose any two points and create a hypothesis.
- 9. How does RANSAC work?Randomly choose any two points Calculate distances between a and create a hypothesis. hypothesis and all observations. This hypothesis has a huge distance value. This process is called “Scoring”. “ “ Because wewhich ahas theknowledgeintegration hypothesis have prior minimum that the value of distance could be our model.
- 10. How does RANSAC work? Calculate distances between a Again randomly choose two points andhypothesis and all observations. create another hypothesis. This one has a smaller distance value than previous.
- 11. How does RANSAC work? Again randomly choose two points and How many hypothesis can be created? create another hypothesis.This one has a smaller distance value thanprevious. Number of lines = 100 C2 = 4,950 Number of lines =999 C2 = 498,501 Total calculation=498,501× 997 = 497,005,497
- 12. How does RANSAC work?Set a threshold to prevent calculationfrom all observation. ld hoIf a hypothesis meet our condition, this s rehypothesis is going to be our best model. Th In addition set a maxim iterations or maxim time period.
- 13. How does RANSAC work?What happens if we have this observation?
- 14. How does RANSAC work?What happens if we have this observation? Maybe we can’t get a right answer. This implies that we need a decent observation data set to get a right model unless RANSAC process takes more time and less accurate.
- 15. How does RANSAC work?What happens if we have these observations? Inlier noise Near degeneracies Near degeneracies can be dealt with by sampling non-randomly.
- 16. How can we apply RANSAC to our applications?RANSAC can be used reﬁne essential matrix.Example) A 3D point registration. pi R,TAssume that we already create a hypothesis piusing any methods such as 5 point, 8pointsand svd algorithm and so on. i=N e2 = pi − Rpi − T 2 These two are our model. i=1pi = Current frame a 3D point in world coordinate.pi = Previous frame a 3D world point in world coordinate.
- 17. Preemptive RANSAC Based on breadth-ﬁrst preemption. Using time budget and threshold. Source from ICCV2005 tutorial.
- 18. Preemptive RANSAC Based on breadth-ﬁrst preemption.Source from ICCV2005 tutorial.
- 19. Preemptive RANSAC Depth-ﬁrst preemption. Source from ICCV2005 tutorial.
- 20. Preemptive RANSAC Breath-ﬁrst preemption. Source from ICCV2005 tutorial.
- 21. Preemptive RANSAC Breath-ﬁrst preemption. Source from ICCV2005 tutorial.
- 22. Preemptive RANSAC log-likelihood, LCauchy distribution to model the errors = −ln(1 + u) 2 where ui = pi − Rpi − T Squared magnitude of a reprojection error 10 robust log-likelihood = −ln (1 + ui ) i=1 N where ρ = scoring function, L(h) = ρ(o, h) o = observation index, h = hypothesis index. o=1 ρ function return a scalar value representing the log-likelihood given o,h
- 23. Preemptive RANSAC Algorithm 1. Randomly permute the observations. 2. Generate all the hypotheses indexed by h= 1,..., f(1) using 5 points algorithm. f (i) = preemption function indicates how many hypotheses are to be kept at ith stage.
- 24. Preemptive RANSAC Algorithm 1. Randomly permute the observations. 2. Generate all the hypotheses indexed by h= 1,..., f(1) using 5 points algorithm. 3. Compute the scores. L1 (h) = ρ(1, h) for h=1,...,f(1). set i=2
- 25. Preemptive RANSAC Algorithm 1. Randomly permute the observations. 2. Generate all the hypotheses indexed by h= 1,..., f(1) using 5 points algorithm. 3. Compute the scores. L1 (h) = ρ(1, h) for h=1,...,f(1). set i=2 4. Reorder the hypotheses. The range h=1,...,f(i) contains the best f(i) 5. If i>N of f(i)=1, quit with the best hypothesis. Otherwise, compute Li (h) = ρ(i, h) + Li−1 (h) for h=1,...,f(1). increase i and go to Step 4.
- 26. Preemptive RANSAC Sequences Generate all the hypothesesScoring and find the besthypotheses at each stage.
- 27. Preemptive RANSACAdvantages of breath-ﬁrst RANSAC The breath-first RANSAC can spend a lot of time on bad observation.Only compare the previous hypothesis and it takes long time to get thebest one. (Depth-first RANSAC)Disadvantages of breath-ﬁrst RANSACcan spend a lot of time on bad observation.Author argues that depth-first RANSAC can also waste time onbad hypothesis.
- 28. Preemptive RANSAC Disadvantages of breath-ﬁrst RANSAC The breath-first RANSAC can spend a lot of time on bad observation.The depth-first RANSAC can also waste time on bad hypothesis.
- 29. Preemptive RANSAC Disadvantages of breath-ﬁrst RANSAC The breath-first RANSAC can spend a lot of time on bad observation.The depth-first RANSAC can also waste time on bad hypothesis. Typically a hypothesis is consist of multiple observations. If this hypothesis contains outliers so that it is meaningless. The good observations are much larger than the good hypothesis in typical RANSAC settings.
- 30. Preemptive RANSACExperiments Results(Translation error)
- 31. My thoughtsReasonable using the breath-ﬁrst searchingIt implemented on CVD library.
- 32. IssuesDead depth pixelAbout 25% of a kinect point clouds are dead depth pixel, thathas NaN(Not a Number) depth value.320x240=76800, and valid number of point cloud = 57365 2D image plane 3D depth data
- 33. VO procedures1. Obtain features using gpuSurf at t-1 and t Output: featureA(t-1), featureB(t)2. CrossMatching Using L2 Output: MatchedFeaturesList3. Find depth for each matched feature (Nr=160~200) Output: KeypointA(t-1), KeypointB(t) in 3D world coordinate4. Compute R,t using ICP (iteration 250, threshold..)5. Find the current pose of camera by multiply homogeneoustransformation matrix. R i ti ξc = o ξt−3 t−3 ξt−2 t−2 ξt−1 t−1 ξt where ξi = 01X3 16. Draw x,y,z using
- 34. VO procedures
- 35. VO procedures
- 36. VO proceduresTime consumption Profiling.1. Total time = 80~100ms2. gpuSurf = 10 ~ 15ms3. gpuMatching = 5~7ms4. ICP 15~20ms5. Visualization 50~60ms
- 37. VO ResultsConfiguration
- 38. VO ResultsGround truth
- 39. VO Results
- 40. SBC status1. Ubuntu 10.10 64Bit installed,2. ROS Diamondback installed PCL, Openni_kinect stack3. CUDA Driver V3.2,
- 41. PlansCut down 54.28% size of original data.(rgb+point cloud).(320x240 rgb+point cloud)=2,688,000Bytes => (320x240 rgb+pointcloud)=1,228,800Bytes.Generate 3D features using surf and a kinect.Visualization 3D matched features using PCL but has some bugs.Using ICP on ROS(PointCloudLibrary) to get a transformation matrix.Visualization camera pose using PCL.Recording data with MikroKopter and SBC. (10th/June)Put on the MikroKopter and testing.(13th/June)Reﬁne pose with RANSAC or EKF.... etc.
- 42. PlansCut down 54.28% size of original data.(rgb+point cloud).(320x240 rgb+point cloud)=2,688,000Bytes => (320x240 rgb+pointcloud)=1,228,800Bytes.Generate 3D features using surf and a kinect.Visualization 3D matched features using PCL but has some bugs.Using ICP on ROS(PointCloudLibrary) to get a transformation matrix.Visualization camera pose using PCL.Recording data with MikroKopter and SBC. (10th/June)Put on the MikroKopter and testing.(13th/June)Reﬁne pose with RANSAC or EKF.... etc.
- 43. Thank you.

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