Does a gate or a RANSAC start survive the mismatch mixes a real SIFT matcher produces?

What it found

Takes the next step of sensing-matchreal: its measured ratio-test mismatch mixes (rate and the share along the epipolar line, near and far) are injected into the sensing-epigate rig of 12 views with wrong poses. At ratio 0.7 (6% wrong, 62% along) Cauchy-loss adjustment from an all-view start gives 0.052 object radii, a RANSAC start 0.0060, an epipolar gate 0.0038 and gate plus RANSAC start 0.0036, against a clean floor of 0.0014. At ratio 0.9 (23% wrong) the RANSAC start (0.088) beats the gate (0.17); with no ratio test (56% wrong on stereo, 40% on warped photographs) every method is above 0.4. The gate beats the RANSAC start up to 20% contamination at the ratio-0.7 shares and fails at 30%. The mismatch statistics are measured; the scene, poses and Gaussian noise are the synthetic rig's, mismatches are independent per observation, and there are 6 seeds with no intervals.

A figure from its own output

Paper, code and results

• README and method
• Experiments and results
• Code
• Tests

More in Sensing, imaging and 3D

• What do a real matcher's mismatches look like: random pixels, near misses, or along the epipolar line?On a real Middlebury stereo pair SIFT with no ratio test is 56% wrong and 84% of the wrong ones are far, but at a 0.7 ratio test 6% are wrong and 62% of those lie on the true epipolar line (chance: 1%); ten warped photographs give 40% wrong without and 2% with ratio 0.6
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Produced with AI assistance (Claude). Results are from the code in this repository and are simulated or stylised unless the abstract says otherwise; nothing here implies affiliation with or endorsement by any lab, researcher or company cited. MIT licensed.