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From the docs:
Regardless of the method, robust or not, the computed homography matrix is refined further (using inliers only in case of a robust method) with the Levenberg-Marquardt method to reduce the re-projection error even more.
Which means: After H was obtained by RANSAC, it is further re-fined (=re-estimated) for non-linear optimization of the homography mapping. In this case, least-median of squared is used, I guess.
