They're inliers because also a drift because they really cause biases and

in the rotation translation estimation and for

the first time in 2004 David Nested who invented the 5-point

algorithm provided us also with a solution to solve for

the inlier problem in the two of your case.

Now, choosing a quintuples,

these groups of five points appearing ransack might be very expensive,

so we need some alternative and the alternative different game with

an invented here at the at the University of Minnesota.

Which is that if you know a direction, like the gravity from the IMU, or

just the point at infinity, then you already know two degrees of freedom

of the rotation, and the remaining problem has three degrees of freedom,

the yaw angle and two for the translation direction.

So what you do is every time before you solve for answer you're lying with

this direction, for example the gravity and then you solve for

constraint problem which has in the rotation part only one angle is unknown.

The way you see it here and then you have the asymmetric matrix to translation

which is only two unknown section y.

And because you know only direction of this xy you just set it

as cosine filtered sign theta, and you have to solve a system

with the four equations and forum knowns for the three quotes.

This can be solved much faster than the five point algorithm and

we can obtain a much better run section solutions.

Without spending most of our time in the inlier selection.