USAC: A Universal Framework for Random Sample Consensus

Estimators: -- Line 2d -- Homography matrix -- Fundamental matrix -- Essential matrix

Avaliable Samplers: -- Uniform Sampler -- Napsac Sampler -- Evsac Sampler -- Prosac Sampler

Install: mkdir build cd build/ cmake .. make -j $(nproc)

Run (runs tests for each estimators): ./ransac

Datasets: -- Extreme View Dataset (EVD): http://cmp.felk.cvut.cz/wbs/#datasets -- Karel Lebeda: http://cmp.felk.cvut.cz/data/geometry2view/index.xhtml

References: Usac: http://people.inf.ethz.ch/pomarc/pubs/RaguramPAMI13.pdf Napsac: https://pdfs.semanticscholar.org/cec1/2adbb307124e0c62efbaaa870836c3846b5f.pdf Prosac: http://cmp.felk.cvut.cz/~matas/papers/chum-prosac-cvpr05.pdf Evsac: https://ieeexplore.ieee.org/document/6751418/

Randomized RANSAC (Authors: J. Matas, O. Chum) https://ieeexplore.ieee.org/document/1544925

Graph cut: http://openaccess.thecvf.com/content_cvpr_2018/papers/Barath_Graph-Cut_RANSAC_CVPR_2018_paper.pdf Local Optimization: http://cmp.felk.cvut.cz/~matas/papers/chum-dagm03.pdf