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README.md

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 ## Non-Minimal Sample Consensus `nmsac`
 
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 This repo builds on the ideas presented in the paper [SDRSAC](https://arxiv.org/abs/1904.03483) from CVPR2019.  Most of the framework comes from the original author's [matlab implementation](https://github.com/intellhave/SDRSAC), translated into C++ and using [armadillo](http://arma.sourceforge.net/) for working with matrices and vectors.  At it's core, SDRSAC is about employing a sample-and-consensus strategy, like that of [RANSAC](https://en.wikipedia.org/wiki/Random_sample_consensus).  However, with non-minimal subsampling, higher quality motion hypotheses are obtained much faster than those obtained from RANSAC.