網上有許多關於隨機抽樣一致性算法的介紹,我理解的就是用這個算法可以在一堆離散數據中找到在一條直線上的數據,步驟如下:
(1)新建一個ransac_demo.m的腳本,代碼如下:
function [bestParameter1,bestParameter2] = ransac_demo(data,num,iter,threshDist,inlierRatio)
% data: a 2xn dataset with #n data points
% num: the minimum number of points. For line fitting problem, num=2
% iter: the number of iterations
% threshDist: the threshold of the distances between points and the fitting line
% inlierRatio: the threshold of the number of inliers
%% Plot the data points
figure;plot(data(1,:),data(2,:),'o');hold on;
number = size(data,2); % Total number of points
bestInNum = 0; % Best fitting line with largest number of inliers
bestParameter1=0;bestParameter2=0; % parameters for best fitting line
for i=1:iter
%% Randomly select 2 points
idx = randperm(number,num); sample = data(:,idx);
%% Compute the distances between all points with the fitting line
kLine = sample(:,2)-sample(:,1);% two points relative distance
kLineNorm = kLine/norm(kLine);
normVector = [-kLineNorm(2),kLineNorm(1)];%Ax+By+C=0 A=-kLineNorm(2),B=kLineNorm(1)
distance = normVector*(data - repmat(sample(:,1),1,number));
%% Compute the inliers with distances smaller than the threshold
inlierIdx = find(abs(distance)<=threshDist);
inlierNum = length(inlierIdx);
%% Update the number of inliers and fitting model if better model is found
if inlierNum>=round(inlierRatio*number) && inlierNum>bestInNum
bestInNum = inlierNum;
parameter1 = (sample(2,2)-sample(2,1))/(sample(1,2)-sample(1,1));
parameter2 = sample(2,1)-parameter1*sample(1,1);
bestParameter1=parameter1; bestParameter2=parameter2;
end
end
%% Plot the best fitting line
xAxis = -number/2:number/2;
yAxis = bestParameter1*xAxis + bestParameter2;
plot(xAxis,yAxis,'r-','LineWidth',2);
end
(2)直接調用:
%x,y爲1xm的數組
data = [x;y];
ransac_demo(data,100,100,1,0.1);