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Example: ransac-data-association

  • Purpose: Demonstrate the applicability of a modified RANSAC algorithm to determining data association for 2D landmarks, including potential multi-hypotheses.
  • Source code location: [MRPT]/samples/ransac-data-association/
  • Paper: J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, “A Robust, Multi-Hypothesis Approach to Matching Occupancy Grid Maps”, Robotica, 2013 (DOI).
  • Related C++ API: mrpt-scanmatching

 

Screenshot:

EXAMPLE_ransac-data-association