openMVG----robust_estimation

数据经常收到噪声和外点影响，需要鲁棒估计选择出“最好”的模型。openMVGT提供了一下方法：

• Max-Consensus,
• Ransac,
• LMeds,
• AC-Ransac (A Contrario Ransac).

Max-Consensus

随机采样–>估计模型。重复max次。选择最好的一个

Require: correspondences
Require: model solver, residual error computation
Require: T threshold for inlier/outlier discrimination
Require: maxIter the number of performed model estimation
Ensure: inlier list
Ensure: best estimated model Mbest
        for i = 0 ! maxIter do
                Pick NSample random samples
                Evaluate the model Mi for the random samples
                Compute residuals for the estimated model
                if Cardinal(residual < T) > previousInlierCount then
                        previousInlierCount = Cardinal(residual < T)
                        Mbest = Mi
                end if
        end for

Ransac

随机采样一致。可以动态地决定采样次数

AC-Ransac A Contrario Ransac

最大一致需要设置：迭代次数和阈值
Ransac需要设置：阈值
AC-Ransac可以自动地选择阈值