Answers are grounded in this paper and cite their sources.
The efficiency of epipolar geometry estimation by RANSAC is improved by exploiting the oriented epipolar constraint. Performance evaluation shows that the enhancement brings up to a two-fold speed-up. The orientation test is simple to implement, is universally applicable and takes negligible fraction of time compared with epipolar geometry computation.
No takes yet. Share an insight, caveat, or question.
Chum et al. (2004) studied this question.