# Consensus-Adaptive RANSAC

arXiv: https://arxiv.org/abs/2307.14030 · HTML: https://mlsanity.com/paper/2307.14030/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 15 of its 44 references that are in the map.
- First posted on arXiv 26 Jul 2023.

## Builds on (most cited first, 15 of 15)

- [PointNet: Deep Learning on Point Sets for 3D Classification and Segmentation](https://mlsanity.com/paper/1612.00593/) (2016)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [SuperPoint: Self-Supervised Interest Point Detection and Description](https://mlsanity.com/paper/1712.07629/) (2017)
- [DSAC - Differentiable RANSAC for Camera Localization](https://mlsanity.com/paper/1611.05705/) (2016)
- [Working hard to know your neighbor's margins: Local descriptor learning loss](https://mlsanity.com/paper/1705.10872/) (2017)
- [Learning to Find Good Correspondences](https://mlsanity.com/paper/1711.05971/) (2017)
- [MAGSAC++, a fast, reliable and accurate robust estimator](https://mlsanity.com/paper/1912.05909/) (2019)
- [Learning Two-View Correspondences and Geometry Using Order-Aware Network](https://mlsanity.com/paper/1908.04964/) (2019)
- [Graph-Cut RANSAC](https://mlsanity.com/paper/1706.00984/) (2017)
- [Neural-Guided RANSAC: Learning Where to Sample Model Hypotheses](https://mlsanity.com/paper/1905.04132/) (2019)
- [MAGSAC: marginalizing sample consensus](https://mlsanity.com/paper/1803.07469/) (2018)
- [Progressive Correspondence Pruning by Consensus Learning](https://mlsanity.com/paper/2101.00591/) (2021)
- [VSAC: Efficient and Accurate Estimator for H and F](https://mlsanity.com/paper/2106.10240/) (2021)
- [NeFSAC: Neurally Filtered Minimal Samples](https://mlsanity.com/paper/2207.07872/) (2022)

## Built on by (most cited first, 2 of 2)

- [Local Feature Matching Using Deep Learning: A Survey](https://mlsanity.com/paper/2401.17592/) (2024)
- [Dense Match Summarization for Faster Two-view Estimation](https://mlsanity.com/paper/2506.02893/) (2025)

## Abstract (arXiv)

RANSAC and its variants are widely used for robust estimation, however, they commonly follow a greedy approach to finding the highest scoring model while ignoring other model hypotheses. In contrast, Iteratively Reweighted Least Squares (IRLS) techniques gradually approach the model by iteratively updating the weight of each correspondence based on the residuals from previous iterations. Inspired by these methods, we propose a new RANSAC framework that learns to explore the parameter space by considering the residuals seen so far via a novel attention layer. The attention mechanism operates on a batch of point-to-model residuals, and updates a per-point estimation state to take into account the consensus found through a lightweight one-step transformer. This rich state then guides the minimal sampling between iterations as well as the model refinement. We evaluate the proposed approach on essential and fundamental matrix estimation on a number of indoor and outdoor datasets. It outperforms state-of-the-art estimators by a significant margin adding only a small runtime overhead. Moreover, we demonstrate good generalization properties of our trained model, indicating its effectiveness across different datasets and tasks. The proposed attention mechanism and one-step transformer provide an adaptive behavior that enhances the performance of RANSAC, making it a more effective tool for robust estimation. Code is available at https://github.com/cavalli1234/CA-RANSAC.