Adaptive scale based entropy-like estimator for robust fitting

In this paper, we propose a novel robust estimator, called ASEE (Adaptive Scale based Entropy-like Estimator) which minimizes the entropy of inliers. This estimator is based on IKOSE (Iterative Kth Ordered Scale Estimator) and LEL (Least Entropy-Like Estimator). Unlike LEL, ASEE only considers inliers´ entropy while excluding outliers, which makes it very robust in parametric model estimation. Compared with other robust estimators, ASEE is simple and computationally efficient. From the experiments on both synthetic and real-image data, ASEE is more robust than several state-of-the-art robust estimators, especially in handling extreme outliers.