Multi-modal RANSAC (with Chris Kemp)

This work uses RANSAC as the proposal distribution to generate samples drawn from the posterior distribution in a filtering framework. This technique allows the pose estimation problem to be partitioned such that robust estimates can be obtained with low computational overhead. A multi-modal texture changepoint detector is also introduced. This work won the Science Prize at BMVC 2004. 

[Prizewinning 2004 BMVC Paper] [2008 IVC Paper]