diff --git a/gtsfm/configs/deep_front_end.yaml b/gtsfm/configs/deep_front_end.yaml
index 861692d46..1d7ac94b0 100644
--- a/gtsfm/configs/deep_front_end.yaml
+++ b/gtsfm/configs/deep_front_end.yaml
@@ -38,14 +38,14 @@ SceneOptimizer:
     two_view_estimator_obj:
       _target_: gtsfm.two_view_estimator.TwoViewEstimator
       bundle_adjust_2view: True
-      eval_threshold_px: 4 # in px
+      eval_threshold_px: 0.5 # only for evaluation and metrics purposes
       ba_reproj_error_thresholds: [0.5]
       bundle_adjust_2view_maxiters: 100
 
       verifier:
         _target_: gtsfm.frontend.verifier.ransac.Ransac
         use_intrinsics_in_verification: True
-        estimation_threshold_px: 4 # for H/E/F estimators
+        estimation_threshold_px: 0.5 # for H/E/F estimators
 
       triangulation_options:
         _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
diff --git a/gtsfm/configs/deep_front_end_astrovision.yaml b/gtsfm/configs/deep_front_end_astrovision.yaml
index 7051c3a0a..072f54486 100644
--- a/gtsfm/configs/deep_front_end_astrovision.yaml
+++ b/gtsfm/configs/deep_front_end_astrovision.yaml
@@ -39,14 +39,14 @@ SceneOptimizer:
       two_view_estimator_obj:
       _target_: gtsfm.two_view_estimator.TwoViewEstimator
       bundle_adjust_2view: True
-      eval_threshold_px: 4 # in px
+      eval_threshold_px: 0.5 # only for evaluation and metrics purposes
       ba_reproj_error_thresholds: [0.5]
       bundle_adjust_2view_maxiters: 100
 
       verifier:
         _target_: gtsfm.frontend.verifier.ransac.Ransac
         use_intrinsics_in_verification: True
-        estimation_threshold_px: 4 # for H/E/F estimators
+        estimation_threshold_px: 0.5 # for H/E/F estimators
 
       triangulation_options:
         _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
diff --git a/gtsfm/configs/sift_front_end.yaml b/gtsfm/configs/sift_front_end.yaml
index 16ce76994..309d4032e 100644
--- a/gtsfm/configs/sift_front_end.yaml
+++ b/gtsfm/configs/sift_front_end.yaml
@@ -38,14 +38,14 @@ SceneOptimizer:
     two_view_estimator_obj:
       _target_: gtsfm.two_view_estimator.TwoViewEstimator
       bundle_adjust_2view: True
-      eval_threshold_px: 4 # in px
+      eval_threshold_px: 0.5 # only for evaluation and metrics purposes
       ba_reproj_error_thresholds: [0.5]
       bundle_adjust_2view_maxiters: 100
 
       verifier:
         _target_: gtsfm.frontend.verifier.ransac.Ransac
         use_intrinsics_in_verification: True
-        estimation_threshold_px: 4 # for H/E/F estimators
+        estimation_threshold_px: 0.5 # for H/E/F estimators
 
       triangulation_options:
         _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
diff --git a/gtsfm/configs/sift_front_end_astrovision.yaml b/gtsfm/configs/sift_front_end_astrovision.yaml
index 0c800b6a6..f632943d8 100644
--- a/gtsfm/configs/sift_front_end_astrovision.yaml
+++ b/gtsfm/configs/sift_front_end_astrovision.yaml
@@ -37,14 +37,14 @@ SceneOptimizer:
     two_view_estimator_obj:
       _target_: gtsfm.two_view_estimator.TwoViewEstimator
       bundle_adjust_2view: True
-      eval_threshold_px: 4 # in px
+      eval_threshold_px: 0.5 # only for evaluation and metrics purposes
       ba_reproj_error_thresholds: [0.5]
       bundle_adjust_2view_maxiters: 100
 
       verifier:
         _target_: gtsfm.frontend.verifier.ransac.Ransac
         use_intrinsics_in_verification: True
-        estimation_threshold_px: 4 # for H/E/F estimators
+        estimation_threshold_px: 0.5 # for H/E/F estimators
 
       triangulation_options:
         _target_: gtsfm.data_association.point3d_initializer.TriangulationOptions
diff --git a/gtsfm/frontend/verifier/ransac.py b/gtsfm/frontend/verifier/ransac.py
index 71f639625..19f436dcc 100644
--- a/gtsfm/frontend/verifier/ransac.py
+++ b/gtsfm/frontend/verifier/ransac.py
@@ -55,7 +55,7 @@ def estimate_E(
         uv_norm_i2: np.ndarray,
         match_indices: np.ndarray,
         fx: float,
-        robust_estimation_type: RobustEstimationType = RobustEstimationType.USAC_ACCURATE,
+        robust_estimation_type: RobustEstimationType = RobustEstimationType.USAC_MAGSAC,
     ) -> Tuple[np.ndarray, np.ndarray]:
         """Estimate the Essential matrix from correspondences.