Andrea Vedaldi Hailin Jin Paolo Favaro Stefano Soatto KALMANSAC: Robust Filtering by Consensus. 633-640 2005 conf/iccv/2005 ICCV http://doi.ieeecomputersociety.org/10.1109/ICCV.2005.130 db/conf/iccv/iccv2005-1.html#VedaldiJFS05