Real-time Incremental J-Linkage for Robust Multiple Structures Estimation

This paper describes an incremental, real-time implementation of J-linkage, a procedure that can detect multiple instances of a model from data corrupted by noise and outliers. The method is incremental, as it exploits the information extracted in the previous steps and processes the data as they become available. It works in real-time, thanks to several approximations that have been introduced to get around the quadratic complexity of the original algorithm. Tests have been carried out both with synthetic data and real data.

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