We propose Progressive-X+, a new algorithm for finding an unknown number of geometric models, e. g., homographies.
For the first class of solvers, the sought plane is expected to be perpendicular to one of the camera axes.
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras.
A new minimal solver is proposed for the semi-calibrated case, i. e. the camera parameters are known except a common focal length.
To select the best one out of the remaining candidates, a root selection technique is proposed outperforming the recent ones especially in case of high-level noise.