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A method called, σ-consensus, is proposed to eliminate the need for a user-defined inlier-outlier threshold in RANSAC. Instead of estimating the noise σ, it is marginalized over a range of noise scales. The optimized model is obtained by weighted least-squares fitting where the weights come from the marginalization over σ of the point likelihoods of being inliers. A new quality function is proposed not requiring σ and, thus, a set of inliers to determine the model quality. Also, a newdoi:10.1109/cvpr.2019.01044 dblp:conf/cvpr/BarathMN19 fatcat:2qevsrm7arcdhmhhkagjx557zi