Robust Solvers RANSAC TODO: Write down scaling of RANSAC https://en.wikipedia.org/wiki/Random_sample_consensus#Pseudocode Other methods PROSAC (https://cmp.felk.cvut.cz/~matas/papers/chum-prosac-cvpr05.pdf) USAC (https://rahulraguram.com/assets/pdf/RaguramPAMI13.pdf) Hough Transform https://en.wikipedia.org/wiki/Hough_transform