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A Triple-Stage Robust Ellipse Fitting Algorithm Based on Outlier Removal

文献类型：期刊论文

作者Long, Chenrong8; Hu, Qinglei6,7,8; Zhao, Mingyang5; Li, Dongyu3,4; Ouyang, Zhenchao6,8; Yan, Dong-Ming1,2
刊名IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
出版日期2023
卷号72页码:14
关键词Ellipse fitting linear clustering outlier removal probability density spacecraft pose measurement
ISSN号0018-9456
DOI10.1109/TIM.2023.3325872
通讯作者Hu, Qinglei(huql_buaa@buaa.edu.cn)
英文摘要Ellipse fitting is a fundamental yet critical task in computer vision, and the development of robust and accurate algorithms is crucial for various applications. In this study, we propose a triple-stage robust ellipse fitting algorithm to address the challenges posed by noise and outliers in the input data. Specifically, to overcome the sensitivity of existing methods to outliers, we introduce an adaptive outlier removal (AOR) algorithm. This algorithm dynamically removes outliers based on the probability density of all data points, eliminating the need for manual parameter adjustment and enhancing robustness to outliers. Furthermore, we tackle the issue of multiple ellipses in the input data by projecting the filtered points into the polar coordinate system. The points are then divided into equal intervals based on the polar angle, facilitating linear clustering to identify the point sets belonging to candidate ellipses, which helps to avoid erroneous fits and improve accuracy. Finally, to avoid solving the geometric distance between the point and the quadratic curve, a simplified ellipse fitting objective function and its corresponding optimization scheme are developed, in which the ellipse parameters are iteratively solved. To verify the universality and accuracy of the algorithm, we tested it on both synthetic data and real-world images from various scenarios with state-of-the-art approaches. Additionally, experiments have been carried out on a physical spacecraft pose measurement platform. The experimental results demonstrate that the algorithm exhibits excellent performance in terms of fitting accuracy and robustness, with a position estimation error of less than 2 mm and an attitude estimation error of less than 0.1(degrees).
WOS关键词CURVES ; IMAGES ; CIRCLE ; EDGE
资助项目National Natural Science Foundation of China[62227812] ; National Natural Science Foundation of China[61960206011] ; Natural Science Foundation of Zhejiang Province[LD22E050004] ; Tianmushan Laboratory Research Project[TK-2023-B-010] ; Tianmushan Laboratory Research Project[TK-2023-C-020] ; Foundation of Science and Technology on Space Intelligent Control Laboratory[HTKJ2022KL502008]
WOS研究方向Engineering ; Instruments & Instrumentation
语种英语
WOS记录号WOS:001097160000030
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation of China ; Natural Science Foundation of Zhejiang Province ; Tianmushan Laboratory Research Project ; Foundation of Science and Technology on Space Intelligent Control Laboratory
源URL[http://ir.ia.ac.cn/handle/173211/54463]  
专题多模态人工智能系统全国重点实验室
通讯作者Hu, Qinglei
作者单位1.Univ Chinese Acad Sci, Sch AI, Beijing 100190, Peoples R China
2.Chinese Acad Sci, Inst Automat, Natl Lab Pattern Recognit NLPR, Beijing 100190, Peoples R China
3.Shanghai Inst Satellite Engn, Shanghai 201109, Peoples R China
4.Beihang Univ, Sch Cyber Sci & Technol, Beijing 100191, Peoples R China
5.Chinese Acad Sci, Beijing Acad Artificial Intelligence BAAI, Beijing, Peoples R China
6.Beihang Univ, Zhongfa Aviat Inst, Hangzhou 311115, Peoples R China
7.Tian mushan Lab, Hangzhou 310023, Peoples R China
8.Beihang Univ, Sch Automat Sci & Elect Engn, Beijing 100191, Peoples R China
推荐引用方式
GB/T 7714		 Long, Chenrong,Hu, Qinglei,Zhao, Mingyang,et al. A Triple-Stage Robust Ellipse Fitting Algorithm Based on Outlier Removal[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2023,72:14.
APA Long, Chenrong,Hu, Qinglei,Zhao, Mingyang,Li, Dongyu,Ouyang, Zhenchao,&Yan, Dong-Ming.(2023).A Triple-Stage Robust Ellipse Fitting Algorithm Based on Outlier Removal.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,72,14.
MLA Long, Chenrong,et al."A Triple-Stage Robust Ellipse Fitting Algorithm Based on Outlier Removal".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 72(2023):14.

入库方式： OAI收割

来源：自动化研究所

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