R-RANSAC with Sequential Probability Ratio Test

A MATLAB implementation of R-RANSAC leveraging the sequential probability ratio test (SPRT) test (WALDSAC) based on Matas and Chum's 2008 paper link. This repo was motivated by the scarcity of implementations available.

The SPRT test was pioneered by Abraham Wald in his seminal Sequential Tests of Statistical Hypotheses 1945 paper. The paper is very clear and gives an intuitive presentation of sequential tests, i.e. very read-worthy.

Overview

Both the $T(d,d)$ test and the SPRT test are implemented, see rransac_tdd.m and rransac_sprt.m respectively.

Results

TODO

• Fix stability issues for SPRT termination criteria when inlier ratio is 1.
• Improve stability of numerical solver for h.