PointCloudLibrary/pcl — pull request #129 by andersgb1 (2013-06-11 15:14:09+00:00)
Title: A new prerejective pose estimation and alignment routine (#940)

This is a considerably delayed implementation of the optimized RANSAC suggested here: http://dev.pointclouds.org/issues/940. When I run the unit same unit test as SAC-IA, I get a speed up factor of ~2 (with 5x as many iterations). This is the primary motivation for the method.