[Computer Vision 8] Fixing the Locally Optimized RANSAC

LO-RANSAC Algorithm

The locally optimized RANSAC adds an optimization step after the verification phase, if a so-far-the-best model is found.

Speeding up Local Optimization

To reduce the time consumption, introducing a limit on the number of inliers that participate in estimation of model M' parameters. The precision of the estimated model will not be affected.