LO-RANSAC Algorithm
The locally optimized RANSAC adds an optimization step after the verification phase, if a so-far-the-best model is found.
![](https://i-blog.csdnimg.cn/blog_migrate/7e1a575c8c6948a4c6a992e57135a209.png)
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.