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To my experience, it is hard to choose thresholds (e.g. N) such that outliers are removed, but (bad) correct estimates are kept.

If you estimate the homography for a rectangular template, you can draw a quadrangle given by the corner points of this template. Outliers can be identified from quadrangles with self-overlap or extreme corner angles (e.g. >170° or < 30°).

It shouldn't be too hard to check these conditions, but I do not have a code example right now.