Resumen
This paper presents a new approach to estimate the consensus in a data set. Under the framework of RANSAC, the perturbation on data has not been considered sufficiently. We analysis the computation of homography in RANSAC and find that the variance of its estimation monotonically decreases when the size of sample increases. From this result, we carry out an approach which can suppress the perturbation and estimate the consensus set simultaneously. Different from other consensus estimators based on random sampling methods, our approach builds on the least square method and the order statistics and therefore is an alternative scheme for consensus estimation. Combined with the nearest neighbour-based method, our approach reaches higher matching precision than the plain RANSAC and MSAC, which is shown in our simulations.