• GroupSAC: Efficient Consensus in the Presence of Groupings 

      Ni, Kai; Jin, Hailin; Dellaert, Frank (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-09)
      We present a novel variant of the RANSAC algorithm that is much more efficient, in particular when dealing with problems with low inlier ratios. Our algorithm assumes that there exists some grouping in the data, based ...