Exploiting uncertainty in random sample consensus

In this work, we present a technique for robust estimation, which by explicitly incorporating the inherent uncertainty of the estimation procedure, results in a more efficient robust estimation algorithm. In addition, we build on recent work in randomized model verification, and use this to characterize the `non-randomness´ of a solution. The combination of these two strategies results in a robust estimation procedure that provides a significant speed-up over existing RANSAC techniques, while requiring no prior information to guide the sampling process. In particular, our algorithm requires, on average, 3-10 times fewer samples than standard RANSAC, which is in close agreement with theoretical predictions. The efficiency of the algorithm is demonstrated on a selection of geometric estimation problems.