Submission ID: 00035
HardNet (upright), MAGSAC
Processed: 20-04-23. Download link: sid-00035-hardnet-upright-magsac-2k.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
Metadata
- Authors: Challenge organizers (contact)
- Keypoint: sift-def
- Descriptor: hardnet-upright (128 float32: 512 bytes)
- Number of features: 2048
- Summary: HardNet descriptors extracted on SIFT keypoints with a fixed orientation, and MAGSAC for stereo. Re-using parameters found for the orientation-sensitive variant. Please refer to the baselines repository (linked) for details.
- Paper: https://arxiv.org/abs/1705.10872
- Website: https://github.com/DagnyT/hardnet
- Origin: Baseline
- Flags: is_baseline
Phototourism / Stereo track
mAA at 10 degrees: 0.43816 (±0.00058 over 3 run(s) / ±0.13452 over 9 scenes)
Rank (per category): 34 (of 108)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 2004.2 | 319.9 | 319.9 | 243.5 | 0.427 Rank: 56/108 |
0.922 Rank: 47/108 |
0.19349 (±0.00238) Rank: 31/108 |
0.32779 (±0.00325) Rank: 27/108 |
| fcs | 2043.3 | 303.1 | 303.1 | 229.8 | 0.305 Rank: 48/108 |
0.880 Rank: 38/108 |
0.53694 (±0.00167) Rank: 22/108 |
0.66450 (±0.00078) Rank: 23/108 |
| lms | 1027.6 | 193.1 | 193.1 | 144.9 | 0.360 Rank: 65/108 |
0.678 Rank: 62/108 |
0.40673 (±0.00223) Rank: 51/108 |
0.52603 (±0.00178) Rank: 51/108 |
| lb | 1943.7 | 223.6 | 223.6 | 137.7 | 0.312 Rank: 52/108 |
0.684 Rank: 50/108 |
0.32959 (±0.00238) Rank: 31/108 |
0.42534 (±0.00068) Rank: 39/108 |
| mc | 2026.8 | 228.9 | 228.9 | 149.3 | 0.333 Rank: 51/108 |
0.907 Rank: 44/108 |
0.30077 (±0.00238) Rank: 31/108 |
0.44048 (±0.00237) Rank: 24/108 |
| mr | 1950.2 | 257.0 | 257.0 | 202.6 | 0.328 Rank: 65/108 |
0.924 Rank: 37/108 |
0.21345 (±0.00203) Rank: 46/108 |
0.31412 (±0.00207) Rank: 43/108 |
| psm | 2024.3 | 155.9 | 155.9 | 106.4 | 0.273 Rank: 73/108 |
0.401 Rank: 63/108 |
0.10542 (±0.00185) Rank: 37/108 |
0.19257 (±0.00144) Rank: 41/108 |
| sf | 1992.0 | 320.0 | 320.0 | 245.2 | 0.336 Rank: 55/108 |
0.811 Rank: 40/108 |
0.38271 (±0.00148) Rank: 32/108 |
0.51370 (±0.00265) Rank: 35/108 |
| spc | 2022.4 | 262.6 | 262.6 | 177.0 | 0.318 Rank: 61/108 |
0.826 Rank: 41/108 |
0.38947 (±0.00354) Rank: 23/108 |
0.53887 (±0.00220) Rank: 25/108 |
| avg | 1892.7 | 251.6 | 251.6 | 181.8 | 0.333 Rank: 60/108 |
0.781 Rank: 46/108 |
0.31762 (±0.00055) Rank: 35/108 |
0.43816 (±0.00058) Rank: 34/108 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— british museum —
— florence cathedral side —
— lincoln memorial statue —
— london bridge —
— milan cathedral —
— mount rushmore —
— piazza san marco —
— sagrada familia —
— saint paul's cathedral —
Phototourism / Multiview track
mAA at 10 degrees: 0.62275 (±0.00423 over 3 run(s) / ±0.16750 over 9 scenes)
Rank (per category): 48 (of 108)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 2004.2 | 249.47 | 99.58 Rank: 60/108 |
1163.57 Rank: 59/108 |
5.189 Rank: 34/108 |
0.57573 Rank: 38/108 |
0.35861 (±0.00807) Rank: 42/108 |
0.50821 (±0.00749) Rank: 44/108 |
| fcs | 2043.3 | 244.15 | 97.15 Rank: 49/108 |
1860.93 Rank: 47/108 |
4.295 Rank: 47/108 |
0.27681 Rank: 49/108 |
0.68579 (±0.00409) Rank: 47/108 |
0.76373 (±0.00475) Rank: 45/108 |
| lms | 1027.6 | 155.93 | 98.60 Rank: 44/108 |
1001.61 Rank: 80/108 |
4.799 Rank: 47/108 |
0.32926 Rank: 68/108 |
0.76996 (±0.00614) Rank: 39/108 |
0.84984 (±0.00453) Rank: 31/108 |
| lb | 1943.7 | 193.30 | 96.97 Rank: 67/108 |
1284.39 Rank: 52/108 |
4.342 Rank: 57/108 |
0.53746 Rank: 75/108 |
0.48759 (±0.00552) Rank: 62/108 |
0.60924 (±0.00761) Rank: 63/108 |
| mc | 2026.8 | 154.63 | 96.81 Rank: 61/108 |
1226.90 Rank: 54/108 |
4.154 Rank: 62/108 |
0.47446 Rank: 58/108 |
0.42803 (±0.01014) Rank: 53/108 |
0.56373 (±0.01426) Rank: 54/108 |
| mr | 1950.2 | 208.22 | 92.05 Rank: 53/108 |
1776.86 Rank: 29/108 |
4.023 Rank: 56/108 |
0.51633 Rank: 12/108 |
0.34673 (±0.00501) Rank: 47/108 |
0.46062 (±0.00601) Rank: 49/108 |
| psm | 2024.3 | 83.52 | 81.36 Rank: 54/108 |
1116.40 Rank: 62/108 |
3.072 Rank: 49/108 |
0.67150 Rank: 43/108 |
0.23289 (±0.00943) Rank: 55/108 |
0.31340 (±0.01253) Rank: 54/108 |
| sf | 1992.0 | 253.69 | 96.55 Rank: 45/108 |
1928.32 Rank: 43/108 |
4.491 Rank: 41/108 |
0.32350 Rank: 32/108 |
0.66511 (±0.00155) Rank: 47/108 |
0.76084 (±0.00194) Rank: 47/108 |
| spc | 2022.4 | 194.88 | 99.23 Rank: 40/108 |
1564.42 Rank: 44/108 |
4.353 Rank: 47/108 |
0.55465 Rank: 63/108 |
0.66865 (±0.00415) Rank: 37/108 |
0.77514 (±0.00331) Rank: 39/108 |
| avg | 1892.7 | 193.09 | 95.37 Rank: 54/108 |
1435.93 Rank: 56/108 |
4.302 Rank: 56/108 |
0.47330 Rank: 48/108 |
0.51593 (±0.00393) Rank: 48/108 |
0.62275 (±0.00423) Rank: 48/108 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 25 images (displaying: 10). Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— british museum —
— florence cathedral side —
— lincoln memorial statue —
— london bridge —
— milan cathedral —
— mount rushmore —
— piazza san marco —
— sagrada familia —
— saint paul's cathedral —
