FPGA-Based Real-Time Moving Target Detection System for Unmanned Aerial Vehicle Application

Algorithm 1

RANSAC algorithm.

while time taken < upper bound time do

 (1) Randomly select 3 distinct point pairs as samples.

 (2) Generate hypothesis model (affine parameters) based

 on the chosen samples.

 (3) Apply test on the hypothesis model.

 (4) Calculate the fitness score of the model.

 (5) Update and store best scored parameters.

end while