SCRAMSAC: Improving RANSAC´s efficiency with a spatial consistency filter

Geometric verification with RANSAC has become a crucial step for many local feature based matching applications. Therefore, the details of its implementation are directly relevant for an application´s run-time and the quality of the estimated results. In this paper, we propose a RANSAC extension that is several orders of magnitude faster than standard RANSAC and as fast as and more robust to degenerate configurations than PROSAC, the currently fastest RANSAC extension from the literature. In addition, our proposed method is simple to implement and does not require parameter tuning. Its main component is a spatial consistency check that results in a reduced correspondence set with a significantly increased inlier ratio, leading to faster convergence of the remaining estimation steps. In addition, we experimentally demonstrate that RANSAC can operate entirely on the reduced set not only for sampling, but also for its consensus step, leading to additional speed-ups. The resulting approach is widely applicable and can be readily combined with other extensions from the literature. We quantitatively evaluate our approach´s robustness on a variety of challenging datasets and compare its performance to the state-of-the-art.