RANSAC Scoring Done Right

arXiv:2606.27385v1 Announce Type: new Abstract: The most widely used RANSAC variants score candidate models by counting inliers or summing per-point scores that saturate beyond a residual threshold. Every such score requires a user-supplied parameter that is a function of the inlier scale, which must itself be estimated from contaminated data. We remove this dependence by reversing the usual order of inference: rather than estimating the scale and then scoring against it, we marginalize the inli...

arXiv cs.LG ·James Pritts, Felix Seegr\"aber, Kevin K\"oser ·
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