Accelerated Hypothesis Generation for Multi-structure Robust Fitting

Random hypothesis generation underpins many geometric model fitting techniques. Unfortunately it is also computationally expensive. We propose a fundamentally new approach to accelerate hypothesis sampling by guiding it with information derived from residual sorting. We show that residual sorting innately encodes the probability of two points to have arisen from the same model and is obtained without recourse to domain knowledge (e.g. keypoint matching scores) typically used in previous sampling enhancement methods. More crucially our approach is naturally capable of handling data with multiple model instances and excels in applications (e.g. multi-homography fitting) which easily frustrate other techniques. Experiments show that our method provides superior efficiency on various geometric model estimation tasks. Implementation of our algorithm is available on the authors, homepage.