@TechReport{Chum-TR-2003-15,
  IS = { zkontrolovano 07 Dec 2003 },
  UPDATE  = { 2003-10-09 },
  author =       {Chum, Ond{\v r}ej and Matas, Ji{\v r}{\i } and 
                  Obdr{\v z}{\'a}lek, {\v S}t{\v e}p{\'a}n},
  title =        {On Enhancing {RANSAC} by Generalized 
                  Model Optimization},
  institution =  {Center for Machine Perception, 
                  K13133 FEE Czech Technical University},
  address =      {Prague, Czech Republic},
  year =         {2003},
  month =        {August},
  type =         {Research Report},
  number =       {{CTU--CMP--2003--15}},
  issn =         {1213-2365},
  pages =        {6},
  figures =      {9},
  authorship =   {34-33-33},
  psurl =        {[Chum-TR-2003-15.pdf]},
  project =      {LN00B096, CTU 0306013, IST-2001-32184},
  annote = {An extension of the RANSAC procedure is proposed. By
     adding a generalized model optimization step (the LO step)
     applied only to models with a score (quality) better than all
     previous ones, an algorithm with the following desirable
     properties is obtained: a near perfect agreement with theoretical
     (i.e. optimal) performance and lower sensitivity to noise and
     poor conditioning. The chosen scheduling strategy is shown to
     guarantee that the optimization step is applied so rarely that it
     has minimal impact on the execution time. abstract and keywords
     are now compulsory},
  keywords =     {RANSAC, epipolar geometry, radial distortion},
}