@TechReport{Chum-TR-2004-01,
  IS = { zkontrolovano 13 Jan 2005 },
  UPDATE  = { 2004-03-26 },
  author =       {Chum, Ond{\v r}ej and Werner, Tom{\'a}{\v s} and 
                  Matas, Ji{\v r}{\'\i }},
  title =        {On Exploiting the Oriented Epipolar 
                  Constraint in Epipolar Geometry Estimation 
                  via {RANSAC}},
  institution = { Department of Cybernetics, Faculty of Electrical Engineering
                  Czech Technical University },
  address =      {Prague, Czech Republic},
  year =         {2004},
  month =        {January},
  type =         {Research Report},
  number =       {{K333-18/04}, {CTU--CMP--2004--01}},
  issn =         {1213-2365},
  pages =        {4},
  figures =      {1},
  authorship =   {40-30-30},
  psurl =        {[Chum-TR-2004-01.pdf]},
  project =      {LN00B096, MSMT Kontakt ME 678, IST-2001-32184, 
                  Dnr IG2003-2 062, CONEX GZ 45.535},
  annote = {The efficiency of epipolar geometry estimation by RANSAC
    is improved by exploiting the oriented epipolar
    constraint. Performance evaluation shows that the enhancement
    leads up to a two-fold speed-up. The orientation test is trivial
    to implement, is universally applicable and takes negligible
    fraction of time compared to epipolar geometry computation. },
  keywords =     {Computer Vision, Oriented epipolar geometry, RANSAC},
}