Submission ID: 00054
HardNet w/ MAGSAC
Processed: 20-04-23. Download link: sid-00054-hardnet-8k-both-magsac.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: sift8k
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 8000
- Summary: HardNet descriptors on DoG features (OpenCV), extracted with a low detection threshold to generate up to 8000 points. Using the built-in matcher: bidirectional filter with the both strategy. MAGSAC for stereo.
- 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: 0.51809 (±0.00053 over 3 run(s) / ±0.15111 over 9 scenes)
Rank (per category): 64 (of 147)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 7968.3 | 643.3 | 643.3 | 557.3 | 0.527 Rank: 49/147 |
0.923 Rank: 102/147 |
0.18683 (±0.00354) Rank: 87/147 |
0.30285 (±0.00323) Rank: 83/147 |
| fcs | 7873.6 | 736.2 | 736.2 | 640.4 | 0.443 Rank: 91/147 |
0.931 Rank: 69/147 |
0.62198 (±0.00348) Rank: 46/147 |
0.74382 (±0.00223) Rank: 40/147 |
| lms | 7770.9 | 488.1 | 488.1 | 387.4 | 0.468 Rank: 23/147 |
0.670 Rank: 101/147 |
0.52845 (±0.00122) Rank: 66/147 |
0.63513 (±0.00124) Rank: 72/147 |
| lb | 7952.8 | 434.0 | 434.0 | 334.4 | 0.474 Rank: 92/147 |
0.746 Rank: 81/147 |
0.41261 (±0.00354) Rank: 87/147 |
0.51087 (±0.00142) Rank: 80/147 |
| mc | 7823.8 | 591.1 | 591.1 | 504.7 | 0.524 Rank: 99/147 |
0.938 Rank: 101/147 |
0.37156 (±0.00354) Rank: 87/147 |
0.52580 (±0.00076) Rank: 77/147 |
| mr | 7790.8 | 533.9 | 533.9 | 490.3 | 0.457 Rank: 99/147 |
0.956 Rank: 85/147 |
0.31303 (±0.00167) Rank: 71/147 |
0.42623 (±0.00159) Rank: 67/147 |
| psm | 7807.3 | 318.8 | 318.8 | 257.8 | 0.385 Rank: 102/147 |
0.576 Rank: 86/147 |
0.15474 (±0.00189) Rank: 56/147 |
0.26852 (±0.00049) Rank: 61/147 |
| sf | 7893.6 | 710.3 | 710.3 | 634.5 | 0.479 Rank: 102/147 |
0.876 Rank: 66/147 |
0.51196 (±0.00127) Rank: 47/147 |
0.64607 (±0.00188) Rank: 45/147 |
| spc | 7868.9 | 606.5 | 606.5 | 491.9 | 0.487 Rank: 102/147 |
0.851 Rank: 81/147 |
0.44920 (±0.00218) Rank: 44/147 |
0.60356 (±0.00118) Rank: 40/147 |
| avg | 7861.1 | 562.5 | 562.5 | 477.6 | 0.472 Rank: 103/147 |
0.830 Rank: 90/147 |
0.39449 (±0.00027) Rank: 64/147 |
0.51809 (±0.00053) Rank: 64/147 |
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: 0.69653 (±0.00108 over 3 run(s) / ±0.13199 over 9 scenes)
Rank (per category): 66 (of 147)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 7968.3 | 416.97 | 99.60 Rank: 102/147 |
2869.94 Rank: 76/147 |
5.052 Rank: 31/147 |
0.48876 Rank: 69/147 |
0.45060 (±0.00195) Rank: 62/147 |
0.60713 (±0.00115) Rank: 60/147 |
| fcs | 7873.6 | 535.89 | 99.05 Rank: 8/147 |
4979.98 Rank: 65/147 |
4.491 Rank: 64/147 |
0.24721 Rank: 45/147 |
0.74051 (±0.00352) Rank: 29/147 |
0.80938 (±0.00500) Rank: 23/147 |
| lms | 7770.9 | 330.70 | 98.73 Rank: 88/147 |
3239.47 Rank: 83/147 |
4.408 Rank: 82/147 |
0.30195 Rank: 91/147 |
0.81286 (±0.00865) Rank: 80/147 |
0.86962 (±0.00896) Rank: 86/147 |
| lb | 7952.8 | 362.75 | 98.31 Rank: 80/147 |
3053.73 Rank: 77/147 |
4.607 Rank: 76/147 |
0.49750 Rank: 71/147 |
0.61232 (±0.00465) Rank: 85/147 |
0.71242 (±0.00307) Rank: 87/147 |
| mc | 7823.8 | 419.88 | 99.71 Rank: 61/147 |
4050.41 Rank: 77/147 |
4.537 Rank: 87/147 |
0.39330 Rank: 53/147 |
0.50144 (±0.00353) Rank: 71/147 |
0.65137 (±0.00372) Rank: 69/147 |
| mr | 7790.8 | 446.67 | 93.36 Rank: 99/147 |
4443.42 Rank: 93/147 |
4.073 Rank: 89/147 |
0.49619 Rank: 64/147 |
0.42502 (±0.01577) Rank: 83/147 |
0.53550 (±0.01729) Rank: 84/147 |
| psm | 7807.3 | 160.48 | 89.79 Rank: 87/147 |
2541.40 Rank: 93/147 |
3.291 Rank: 76/147 |
0.59852 Rank: 31/147 |
0.38708 (±0.00234) Rank: 68/147 |
0.46663 (±0.00502) Rank: 70/147 |
| sf | 7893.6 | 559.91 | 98.12 Rank: 49/147 |
5764.64 Rank: 79/147 |
4.340 Rank: 80/147 |
0.32686 Rank: 70/147 |
0.72041 (±0.00108) Rank: 56/147 |
0.80712 (±0.00192) Rank: 60/147 |
| spc | 7868.9 | 386.11 | 99.65 Rank: 38/147 |
4111.97 Rank: 65/147 |
4.310 Rank: 73/147 |
0.45757 Rank: 36/147 |
0.71152 (±0.00497) Rank: 37/147 |
0.80961 (±0.00582) Rank: 36/147 |
| avg | 7861.1 | 402.15 | 97.37 Rank: 71/147 |
3895.00 Rank: 79/147 |
4.345 Rank: 74/147 |
0.42309 Rank: 58/147 |
0.59575 (±0.00079) Rank: 66/147 |
0.69653 (±0.00108) Rank: 66/147 |
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 —
