RANSAC for Dummies

Draft edition, 2014. — 96 p.Both the tutorial and the RANSAC toolbox are supposed to provide a simple and quick way to start experimenting the RANSAC algorithm utilizing Matlab & Octave.
The notes may seem somewhat heterogeneous, but they collect some theoretical discussions and practical considerations that are all connected to the topic of robust estimation, more specifically utilizing the RANSAC algorithm.
Despite the fact that several users tested this package and sent me their invaluable feedback, it is possible (actually very probable) that these notes still contain typos or even plain mistakes. Similarly, the RANSAC toolbox may contain all sorts of bugs. This is why I really look forward to receive your comments: compatibly with my other commitments I will try to improve the quality of this little contribution in the fervent hope that somebody might find it useful.Parameter Estimation in Presence of Outliers
RANdom Sample and Consensus
RANSAC at Work
Notation
Some Linear Algebra Facts
The Normalized Direct Linear Transform (nDLT) Algorithm
Some Code from the RANSAC Toolbox