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A Comparative Study of Parallel RANSAC Implementations in 3D Space

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Abstract

RANSAC (RAndom SAmple Consensus) is an iterative method for estimating the parameters of a certain mathematical model from a set of data which may contain a large number of outliers (noisy points). The main problem of the RANSAC algorithm is that it is too expensive in terms of execution time when real-time processing is needed (30 fps). In view of the importance of this algorithm and the rise of parallelism-based technologies, we analyze and compare in this work various parallel implementations based on different techniques (OpenMP, POSIX Threads, and CUDA). To the best of our knowledge, no other articles have attempted a similar study. In order to make this first study, we have used some standard metrics in parallelism (Runtime and Speedup) and some specific metrics used in evaluating search strategies (Precision, Recall, and F-Score). Furthermore, the experiments have been executed in different hardware alternatives in order to present a more complete study. The conclusions of our study show the advantages and disadvantages of the different parallel implementations.

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Acknowledgments

This work was partially funded by the Projects of Excellence from the Junta de Andalucía (Spain) ROMOCOG I and ROMOCOG II (P09-TEP-4479 and P10-TEP-6412). The work was also partially funded by the Spanish Ministry of Economy and Competitiveness and the ERDF (European Regional Development Fund), under the contract TIN2012-30685 (BIO project).

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Authors and Affiliations

  1. Department of Technologies of Computers and Communications, Polytechnic School, University of Extremadura, Cáceres, Spain

    Alejandro Hidalgo-Paniagua & Miguel A. Vega-Rodríguez

  2. Department of Information Technology, Higher Technical School of Engineering, University of Huelva, Huelva, Spain

    Nieves Pavón

  3. Department of Systems Engineering and Automation, Higher Technical School of Engineering, University of Sevilla, Sevilla, Spain

    Joaquín Ferruz

Authors
  1. Alejandro Hidalgo-Paniagua
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  2. Miguel A. Vega-Rodríguez
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  3. Nieves Pavón
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  4. Joaquín Ferruz
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Correspondence to Alejandro Hidalgo-Paniagua.

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Hidalgo-Paniagua, A., Vega-Rodríguez, M.A., Pavón, N. et al. A Comparative Study of Parallel RANSAC Implementations in 3D Space. Int J Parallel Prog 43, 703–720 (2015). https://doi.org/10.1007/s10766-014-0316-7

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  • DOI: https://doi.org/10.1007/s10766-014-0316-7

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