Consensus sets for affine transformation uncertainty polytopes

We introduce an uncertainty model for geometric transformations that can be used in computer vision as well as interactive computer graphics. The model is based on polygonal uncertainty regions, transformation polytopes and their consensus sets. The most important result of this paper is that the RANSAC algorithm can be placed in a broader framework of search algorithms that look for good parameter uncertainty polytopes. To guide the search, each polytope has a consensus set whose size is a measure for its quality.