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This paper tackles the problem of estimating the inlier threshold in RANSAC-like approaches to multiple models fitting. An iterative approach finds the maximum of a score function which resembles the Silhouette index used in clustering validation. Although several methods have been proposed to solve this problem for the single model case, this is the first attempt to address multiple models. Experimental results demonstrate the performances of the algorithm.

Automatic Estimation of the Inlier Threshold in Robust Multiple Structures Fitting