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GroupSAC: Efficient Consensus in the Presence of Groupings
(Georgia Institute of Technology, 2009-09)
We present a novel variant of the RANSAC algorithm that is much more efficient, in particular when dealing with problems with low inlier ratios. Our algorithm assumes that there exists some grouping in the data, based ...
Bayesian Surprise and Landmark Detection
(Georgia Institute of Technology, 2009-05)
Automatic detection of landmarks, usually special places in the environment such as gateways, for topological mapping has proven to be a difficult task. We present the use of Bayesian surprise, introduced in computer ...