Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

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.