Improving RANSAC for fast landmark recognition

...A simplified RANSAC procedure [9] that yields 35% ∼75% time complexity reduction can speedup the whole process...

...In [11], Marquez-Neilia et al. introduce a procedure for recognizing and locating planar landmarks in mobile robot navigation, based on detection of a set of interesting points...

...In [14], Neilia et al. introduce a procedure for recognizing and locating planar landmarks for mobile robot navigation, based on the detection and recognition of a set of interesting points...

...The homographies (projective transformation) between the images are computed using the set of putative correspondences and a modified RANdom SAmple Consensus (RANSAC) [2], [3], [4], [5] algorithm...
...The generic RANSAC algorithm has been extended by various authors, for example [4] introduces bias in the sample selection probability based on the estimated reliability of features and computes a model quality measure based on inlier error; [5] achieves speed improvements to the model validation stage by introducing a pre-validation check; [11] attempts to compute the probabilities of the validities of the correspondences and uses this ...
... by various authors, for example [4] introduces bias in the sample selection probability based on the estimated reliability of features and computes a model quality measure based on inlier error; [5] achieves speed improvements to the model validation stage by introducing a pre-validation check; [11] attempts to compute the probabilities of the validities of the correspondences and uses this information to accelerate the process; [4] ...

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