SupeRANSAC: One RANSAC to Rule Them All

TL;DR

SupeRANSAC is a unified RANSAC framework that achieves consistent high accuracy across various geometric estimation tasks in computer vision, outperforming existing methods through a detailed analysis of effective techniques.

Contribution

The paper introduces SupeRANSAC, a comprehensive RANSAC pipeline that improves robustness and accuracy across multiple vision tasks, unifying and enhancing previous approaches.

Findings

Improves fundamental matrix estimation by 6 AUC points on average.

Demonstrates superior performance on multiple datasets.

Provides a detailed analysis of effective RANSAC techniques.

Abstract

Robust estimation is a cornerstone in computer vision, particularly for tasks like Structure-from-Motion and Simultaneous Localization and Mapping. RANSAC and its variants are the gold standard for estimating geometric models (e.g., homographies, relative/absolute poses) from outlier-contaminated data. Despite RANSAC's apparent simplicity, achieving consistently high performance across different problems is challenging. While recent research often focuses on improving specific RANSAC components (e.g., sampling, scoring), overall performance is frequently more influenced by the "bells and whistles" (i.e., the implementation details and problem-specific optimizations) within a given library. Popular frameworks like OpenCV and PoseLib demonstrate varying performance, excelling in some tasks but lagging in others. We introduce SupeRANSAC, a novel unified RANSAC pipeline, and provide a detailed analysis of the techniques that make RANSAC effective for specific vision tasks, including homography, fundamental/essential matrix, and absolute/rigid pose estimation. SupeRANSAC is designed for consistent accuracy across these tasks, improving upon the best existing methods by, for example, 6 AUC points on average for fundamental matrix estimation. We demonstrate significant performance improvements over the state-of-the-art on multiple problems and datasets. Code: https://github.com/danini/superansac