Does an epipolar gate help bundle adjustment under the mismatch mix a real SIFT matcher produces?

What it found

sensing-epigate found a fundamental-matrix gate no better than a RANSAC start against invented mismatches; sensing-matchreal then measured real SIFT mismatches on a Middlebury stereo pair. This project runs the epigate trial with each measured mix (rate and along/near/far shares at ratio tests none, 0.9, 0.8, 0.7, 0.6). Gate plus Cauchy adjustment gives 0.0078, 0.0033 and 0.0026 object radii at ratio 0.8, 0.7 and 0.6, against 0.0207, 0.0058 and 0.0032 for a RANSAC start and 0.43, 0.013 and 0.0057 for plain Cauchy (floor 0.0015). At ratio 0.9 (23% wrong) the RANSAC start is better (0.082 against 0.130) and with no ratio test (56% wrong) nothing works. An all-uniform control at the same rates is dominated by single failed seeds and is reported as unestablished. Limits: one scene and detector for the mix, synthetic orbit geometry, independent draws, 6 seeds, no intervals, untuned gate.

A figure from its own output

Paper, code and results

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

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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.