Correspondence pruning aims to identify inliers from correspondences severely disturbed by outliers. Although Transformers and graph neural networks have shown impressive results in this field, they are either limited by a narrow receptive field or encounter quadratic computational complexity. To tackle this challenge, this work pioneers the integration of state space model into correspondence pruning task, proposing a Mamba-based framework named MambaMatch. Specifically, to address the limitations of the Mamba architecture in local consensus modeling, we proposes a multi-scale scanning strategy. It first employs an adaptive clustering algorithm to map origin correspondences into spatially coherent feature clusters, constructing a dual-representation space encompassing both full-scale and clustered-scale features. Bidirectional scan operations are then performed at both scales: 1) full-scale scan preserves global structural context, and 2) clustered-scale scan enhances local consistency. Subsequently, a Multi-Scale Interaction layer is designed to dynamically fuse dual-scale features via a cross-attention mechanism, further integrated with a Gated Feed-Forward Network to significantly improve the network's feature discrimination capability. Extensive experiments validate that MambaMatch surpasses state-of-the-art approaches across multiple benchmarks for two-view geometry estimation. Furthermore, MambaMatch exhibits robust generalization across diverse scenarios, tasks, and feature extractors. The source code is available at: https://github.com/mxyttkx/MambaMatch.

In this paper, we propose a novel neural network called Topology Learning Network (TL-Net), that exploits local and global geometric relation by topology graphs to handle the problem of correspondence filtering in complex scenes. Specifically, we first design a Multi-level Topology Encoder (MLTE), which fuses local and global topology graphs by a channel attention, to sufficiently extract the geometric relation among correspondences. MLTE not only includes local topology graphs by gathering the information of relative motion and multi-resolution group convolution, but also includes a global topology graph by aggregating the information of the similarity and the Graph Laplacian. In addition, inspired by Transformer, we design the backbone of TL-Net to generate enriched fdeature maps for correspondence filtering. Meanwhile, by simplifying the global context aggregation, we maintain the lightweight of the backbone, introducing the superiority of Transformer while avoiding extra parameters and calculations. Empirical experiments on several computer vision tasks show that the performance and generalization ability of TL-Net are significantly superior to the state of the art methods. Notably, on relative pose estimation, we achieve 5.63% and 5.03% mAP improvements under an error threshold of$5^{\circ }$outdoors and indoors, respectively.

Correspondence pruning aims to establish reliable correspondences between two related images and recover relative camera motion. Existing approaches often employ a progressive strategy to handle the local and global contexts, with a prominent emphasis on transitioning from local to global, resulting in the neglect of interactions between different contexts. To tackle this issue, we propose a parallel context learning strategy that involves acquiring bilateral consensus for the two-view correspondence pruning task. In our approach, we design a distinctive self-attention block to capture global context and parallel process it with the established local context learning module, which enables us to simultaneously capture both local and global consensuses. By combining these local and global consensuses, we derive the required bilateral consensus. We also design a recalibration block, reducing the influence of erroneous consensus information and enhancing the robustness of the model. The culmination of our efforts is the Bilateral Consensus Learning Network (BCLNet), which efficiently estimates camera pose and identifies inliers (true correspondences). Extensive experiments results demonstrate that our network not only surpasses state-of-the-art methods on benchmark datasets but also showcases robust generalization abilities across various feature extraction techniques. Noteworthily, BCLNet obtains significant improvement gains over the second best method on unknown outdoor dataset, and obviously accelerates model training speed.