Essential Matrix Estimation on Six Datasets Aggregate
51.29AUC @ 5°DS-SAC
Evaluation results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| DS-SACFeature extractor=SuperPoint+LightGlue, Iteration budget=1000, Inlier function=Sampson distance, Solver=Nistér five-point solver [29], Average iterations used=4862026.07 | 51.29 | 63.87 | 74.35 | 1.72 | 275.46 | 0.015 | |
| GC-RANSACSource=Author, Feature extractor=SuperPoint+LightGlue, Iteration budget=1000, Inlier function=Sampson distance, Solver=Nistér five-point solver [29]2026.07 | 50.93 | 62.15 | 70.97 | 1.39 | 271.6 | 0.038 | |
| RANSACSource=OpenCV, Feature extractor=SuperPoint+LightGlue, Iteration budget=1000, Inlier function=Sampson distance, Solver=Nistér five-point solver [29]2026.07 | 42.53 | 58.11 | 70.68 | 1.85 | 257.4 | 0.048 | |
| LO-RANSACSource=PoseLib, Feature extractor=SuperPoint+LightGlue, Iteration budget=1000, Inlier function=Sampson distance, Solver=Nistér five-point solver [29]2026.07 | 41.21 | 54.57 | 66.34 | 2.25 | 281.8 | 0.03 | |
| MAGSACSource=Author, Feature extractor=SuperPoint+LightGlue, Iteration budget=1000, Inlier function=Sampson distance, Solver=Nistér five-point solver [29]2026.07 | 40.51 | 51.23 | 59.79 | 1.69 | 236.51 | 0.402 |