Reliable RANSAC Using a Novel Preprocessing Model

Algorithm 1

RANSAC with preprocessing model.

(1) Computation of the reduced set E from initial

  matching set P

 If (𝑞^∗≥𝑞), store this pair in dataset E.

(2)  RANSAC application

 do

 2.1 select the minimal sample s in set E

 2.2 compute solution(s) for F

 while  𝑝=1−1−𝜑_red^𝑠𝑁<𝑝₀, compute and store

 H(F).

(3) Compute the hypothesis’s support on full set P with

  matrix H or F