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arXiv · 2104.05044

USACv20: robust essential, fundamental and homography matrix estimation

Maksym Ivashechkin·Daniel Barath·Jiri Matas
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Abstract

We review the most recent RANSAC-like hypothesize-and-verify robust estimators. The best performing ones are combined to create a state-of-the-art version of the Universal Sample Consensus (USAC) algorithm. A recent objective is to implement a modular and optimized framework, making future RANSAC modules easy to be included. The proposed method, USACv20, is tested on eight publicly available real-world datasets, estimating homographies, fundamental and essential matrices. On average, USACv20 leads to the most geometrically accurate models and it is the fastest in comparison to the state-of-the-art robust estimators. All reported properties improved performance of original USAC algorithm significantly. The pipeline will be made available after publication.

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Maksym Ivashechkin, Daniel Barath, Jiri Matas. 2021-04-11. USACv20: robust essential, fundamental and homography matrix estimation. https://arxiv.org/abs/2104.05044

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