L.: MAC-RANSAC: a robust algorithm for the recognition of multiple objects

This paper addresses the problem of recognizing multi-ple rigid objects that are common to two images. We pro-pose a generic algorithm that allows to simultaneously de-cide if one or several objects are common to the two images and to estimate the corresponding geometric transforma-tions. The considered transformations include similarities, homographies and epipolar geometry. We first propose a generalization of an a contrario formulation of the RANSAC algorithm proposed in [6]. We then introduce an algorithm for the detection of multiple transformations between im-ages and show its efficiency on various experiments. 1