We construct two wide-baseline algorithms based on detection of singular regions. Correspondence and epipolar geometry is obtained from pairs of views taken from significantly different viewpoints.
In a second part of the talk we study how randomisation of the verification step of RANSAC can speed up the process of epipolar geometry computation. An optimal parameter of one class of statistical tests implementing the randomisation is found. Aproximate formulae for the speed-up factor obtained by the test are derived. .