Robust regression with projection based M-estimators

The robust regression techniques in the RANSAC family are popular today in computer vision, but their performance depends on a user supplied threshold. We eliminate this drawback of RANSAC by reformulating another robust method, the M-estimator, as a projection pursuit optimization problem. The projection based pbM-estimator automatically derives the threshold from univariate kernel density estimates. Nevertheless, the performance of the pbM-estimator equals or exceeds that of RANSAC techniques tuned to the optimal threshold, a value which is never available in practice. Experiments were performed both with synthetic and real data in the affine motion and fundamental matrix estimation tasks.