Residual-Based Robust Estimation and Image-Motion Analysis.

We explain that the task of multiple rigid motion segmentation and estimation from image feature point correspondences demands an estimator of high robustness. We show that a heuristics-based partial modeling approach can be used to develop a highly robust estimator called the MF estimator for general regression, where ‘MF’ represents an abbreviation of Model Fitting. Finally, we provide experimental results in estimating single rigid motion from a mixture of 2D-2D (or image-image), 3D-2D (or range-image), and 3D-3D (or range-range) corresponding point data by using the proposed MF estimator. As will be seen. only four well matched corresponding point pairs are needed to get a good estimate of motion parameters no matter how m(my mismatched corresponding point pairs (or outliers) occur. The article represents an initial effort towards robust image-motion analysis. [ABSTRACT FROM AUTHOR]