RATSAC: An adaptive method for accelerated robust estimation and its application to video synchronisation

Abstract

A new method for robust estimation is introduced. The presented algorithm seeks to unify adjustable per-iteration speedup methods with an adaptive assumption regarding the number of inliers. This is achieved by assuming a prior distribution on the true number of inliers, and using Bayesian inference to adjust the speedup whenever a best-so-far model estimate is found. Convincing results are obtained for both synthetic and real cases of the robust synchronisation of video pairs generated by independently moving cameras.