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How a robust mode-finder works is simple: from the n luminance values at the current pixel, select one randomly; continue and adopt as the best estimate of the 'mode' that luminance which delivers the least median of squared residuals.
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We show how the least-median-of-squares technique can be used to overcome the effects of NLOS errors, even in environments with little infrastructure, and validate its suitability by comparing it to other methods described in the bibliography.
Figure 13 Least Median of Squares method.
Our algorithm is based on a robust statistical method for outlier detection: least median of squares (LMS).
Most notably, this is the first detailed test on complex images of the normal estimation accuracy of our previously proposed method, least median of squares (LMS).
The recognition function requires 53 ms and 16 ms, respectively, for the detection and least median of squares methods in the first frame.
We then employ the Least Median of Squares (LMedS) method to exclude the use of the corresponding point pairs to compute the homography matrix H.
Secondly, the LS regression for the underlying matte model is replaced by a robust regression, the least median of squares (LMS) method [7].
Based on the homography property, we used a robust method called the Least Median of Squares (LMedS) to achieve correct point correspondences.
A typical example of the second category is the least median of squares (LMS) approach used in our previous study [11] (and see [10, 12]), in which the observations outside a certain confidence band are deemed to be outliers.
Using the detected lines and the image gradient, lane refinement is performed using IIR filter and least median of squares to give more exact lane position by only a local search.
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