THRESHOLD DETERMINATION IN FOR EXAMPLE A TYPE RANSAC ALGORITHM

Method for determining a movement between each current pair of first and second successive video images captured by an apparatus, said method including a phase of testing a plurality of model hypotheses of said movement by for example a RANSAC type algorithm, operating on a set of first points in the first image and first assumed corresponding points in the second image so as to deliver the best model hypothesis, said phase of testing comprising for each first point, calculating a corresponding estimated point using the tested model hypothesis, determining the back-projection error between said estimated point and the assumed corresponding point in the second image, and comparing each back projection error with a threshold. Said phase of testing comprises for each first point of the first image, determining a correction term (”T i ) taking into account an estimation of the depth (Z i ) of said first point in said first image and an estimation (Mest) of the relative movement between the first and the second images, and determining the threshold (T i ) associated with said first point by using said correction term.