For that effect, we include one of the robust functions analyzed in , named Lorentzian, which as mentioned in its original formulation is able to differentiate inliers
from outliers, based on:
In all the original matching features, including inliers
and outliers, displacements are collected, the fact being that the displacement for inliers
and outliers between frames is fitted with a Laplacian distribution with a long tail, as shown in Figure 5.
(6) Based on a threshold decide which features are inliers
The former is obtained considering the large number of inliers
using the Direct Linear Transformation (DLT) algorithm (Zisserman & Hartley, 2004).
The number of inliers
represents the similarity between a video frame and query location.
While the recursion proceeds, the inliers
of [D.sub.X] populate progressively S(m).
To reduce false matches, algorithms such as random sample consensus (RANSAC)  and M-estimator sample consensus (MSAC)  are utilized to obtain inliers
. Finally, the inliers
are used to estimate the transformation between images.
Abbreviations: [euro] = Cambrian inliers
; Cgl = conglomerate; Dwv = Wamsutta volcanics; Nam.
The basic premise of RANSAC is the presence in the data set of both observations that fit the model (inliers
) and those which differ from the values (outliers).
ARE INCAPABLE OF COMPREHENDING THAT OUTLIERS CAN NOT BECOME PULITZER PRIZE FINALISTS.