The method of RANSAC and Kalman filtering to combine, apply only to a point to be judged, greatly improving the speed. See in particular the README file.

matlab_code
...........\@ekf_filter
...........\...........\display.m
...........\...........\ekf_filter.m
...........\...........\ekf_prediction.m
...........\...........\ekf_update.m
...........\...........\ekf_update_hi_inliers.m
...........\...........\ekf_update_iterated.m
...........\...........\ekf_update_li_inliers.m
...........\...........\extract_nu_and_S.m
...........\...........\get_H_predicted.m
...........\...........\get_measurements.m
...........\...........\get_predicted_measurements.m
...........\...........\get_p_k_k.m
...........\...........\get_p_k_km1.m
...........\...........\get_std_a.m
...........\...........\get_std_alpha.m
...........\...........\get_std_z.m
...........\...........\get_S_matching.m
...........\...........\get_S_predicted.m
...........\...........\get_x_k_k.m
...........\...........\get_x_k_km1.m
...........\...........\rescue_hi_inliers.m
...........\...........\set_p_k_k.m
...........\...........\set_std_a.m
...........\...........\set_std_alpha.m
...........\...........\set_x_k_k.m
...........\...........\update.m
...........\add_a_feature_covariance_inverse_depth.m
...........\add_features_inverse_depth.m
...........\add_feature_to_info_vector.m
...........\calculate_derivatives.m
...........\calculate_Hi_cartesian.m
...........\calculate_Hi_inverse_depth.m
...........\compute_hypothesis_support_fast.m
...........\count_matches_under_a_threshold.m
...........\crosscorr.m
...........\delete_a_feature.m
...........\delete_features.m
...........\dfv_by_dxv.m
...........\distort_fm.m
...........\distor_a_point.m
...........\dq3_by_dq1.m
...........\dq3_by_dq2.m
...........\dqbar_by_dq.m
...........\dqomegadt_by_domega.m
...........\dq_by_deuler.m
...........\draw_camera.m
...........\dRq_times_a_by_dq.m
...........\fast-matlab-src
...........\...............\example.m
...........\...............\fast_corner_detect_10.m
...........\...............\fast_corner_detect_11.m
...........\...............\fast_corner_detect_12.m
...........\...............\fast_corner_detect_9.m
...........\...............\fast_nonmax.m
...........\...............\lab.pgm
...........\...............\LICENSE
...........\...............\README
...........\fig2avi.m
...........\figures
...........\func_Q.m
...........\fv.m
...........\F_Test_dg_dhd.m
...........\F_Test_dg_dxv.m
...........\F_Test_dhd_dhu.m
...........\F_Test_dhu_dhrl.m
...........\F_Test_dh_dxv.m
...........\F_Test_dh_dxv_newPar.m
...........\F_Test_dh_dy.m
...........\F_Test_dh_dy_newPar.m
...........\F_test_q2rpy.m
...........\F_test_rpy2q.m
...........\generate_random_6D_sphere.m
...........\generate_state_vector_pattern.m
...........\GPL.txt
...........\hinv.m
...........\hi_cartesian.m
...........\hi_inverse_depth.m
...........\hu.m
...........\initialize_a_feature.m
...........\initialize_cam.m
...........\initialize_features.m
...........\initialize_x_and_p.m
...........\inversedepth2cartesian.m
...........\inversedepth_2_cartesian.m
...........\jacob_distor_fm.m
...........\jacob_q2rpy.m
...........\jacob_rpy2q.m
...........\jacob_undistor_fm.m
...........\m.m
...........\map_management.m
...........\matching.m
...........\mono_slam.m
...........\normJac.m
...........\plots.m
...........\plotUncertainEllip2D.m
...........\plotUncertainEllip3D.m
...........\plotUncertainSurfaceXZ.m
...........\predict_camera_measurements.m

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