MAGSAC: Marginalizing Sample Consensus
MAGSAC: Marginalizing Sample Consensus
A method called, sigma-consensus, is proposed to eliminate the need for a user-defined inlier-outlier threshold in RANSAC. Instead of estimating the noise sigma, it is marginalized over a range of noise scales. The optimized model is obtained by weighted least-squares fitting where the weights come from the marginalization over sigma …