Submission ID: 00056
HardNet-Upright w/ DEGENSAC
Processed: 20-04-22. Download link: sid-00056-hardnet-upright-8k-both-degensac.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-upright (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Upright 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. DEGENSAC 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: 0.54393 (±0.00027 over 3 run(s) / ±0.13830 over 9 scenes)
Rank (per category): 39 (of 147)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 7956.3 | 715.2 | 715.2 | 483.6 | 0.520 Rank: 93/147 |
0.947 Rank: 43/147 |
0.24854 (±0.00226) Rank: 34/147 |
0.37412 (±0.00154) Rank: 34/147 |
| fcs | 7838.2 | 860.2 | 860.2 | 592.7 | 0.465 Rank: 40/147 |
0.934 Rank: 55/147 |
0.62371 (±0.00020) Rank: 44/147 |
0.73950 (±0.00022) Rank: 51/147 |
| lms | 7720.4 | 526.8 | 526.8 | 284.5 | 0.467 Rank: 74/147 |
0.697 Rank: 49/147 |
0.55559 (±0.00264) Rank: 34/147 |
0.67626 (±0.00245) Rank: 32/147 |
| lb | 7935.2 | 504.0 | 504.0 | 307.4 | 0.492 Rank: 25/147 |
0.779 Rank: 30/147 |
0.48801 (±0.00226) Rank: 34/147 |
0.58569 (±0.00172) Rank: 39/147 |
| mc | 7779.6 | 740.5 | 740.5 | 506.1 | 0.549 Rank: 42/147 |
0.960 Rank: 43/147 |
0.40182 (±0.00226) Rank: 34/147 |
0.55103 (±0.00075) Rank: 38/147 |
| mr | 7758.9 | 725.0 | 725.0 | 530.9 | 0.479 Rank: 30/147 |
0.975 Rank: 34/147 |
0.33667 (±0.00110) Rank: 33/147 |
0.44923 (±0.00037) Rank: 34/147 |
| psm | 7768.4 | 413.4 | 413.4 | 267.7 | 0.407 Rank: 44/147 |
0.726 Rank: 27/147 |
0.16501 (±0.00183) Rank: 39/147 |
0.28732 (±0.00173) Rank: 38/147 |
| sf | 7860.0 | 882.3 | 882.3 | 597.4 | 0.498 Rank: 42/147 |
0.879 Rank: 55/147 |
0.50149 (±0.00160) Rank: 55/147 |
0.63205 (±0.00085) Rank: 56/147 |
| spc | 7849.5 | 627.7 | 627.7 | 384.0 | 0.501 Rank: 51/147 |
0.883 Rank: 25/147 |
0.45083 (±0.00146) Rank: 43/147 |
0.60017 (±0.00156) Rank: 44/147 |
| avg | 7829.6 | 666.2 | 666.2 | 439.4 | 0.486 Rank: 45/147 |
0.864 Rank: 28/147 |
0.41907 (±0.00017) Rank: 39/147 |
0.54393 (±0.00027) Rank: 39/147 |
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: 0.71542 (±0.00274 over 3 run(s) / ±0.11288 over 9 scenes)
Rank (per category): 44 (of 147)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 7956.3 | 469.61 | 99.96 Rank: 7/147 |
2963.24 Rank: 69/147 |
5.194 Rank: 16/147 |
0.42917 Rank: 32/147 |
0.49786 (±0.00280) Rank: 34/147 |
0.64728 (±0.00342) Rank: 32/147 |
| fcs | 7838.2 | 615.72 | 97.33 Rank: 110/147 |
5006.32 Rank: 57/147 |
4.665 Rank: 31/147 |
0.26515 Rank: 94/147 |
0.71677 (±0.00105) Rank: 79/147 |
0.78176 (±0.00136) Rank: 85/147 |
| lms | 7720.4 | 354.17 | 99.38 Rank: 30/147 |
3175.70 Rank: 90/147 |
4.583 Rank: 33/147 |
0.27035 Rank: 24/147 |
0.83711 (±0.00566) Rank: 34/147 |
0.89345 (±0.00471) Rank: 31/147 |
| lb | 7935.2 | 420.80 | 98.58 Rank: 38/147 |
3206.97 Rank: 68/147 |
4.843 Rank: 23/147 |
0.50774 Rank: 88/147 |
0.67277 (±0.00384) Rank: 52/147 |
0.76925 (±0.00190) Rank: 55/147 |
| mc | 7779.6 | 530.01 | 99.78 Rank: 51/147 |
4399.26 Rank: 64/147 |
4.859 Rank: 46/147 |
0.39463 Rank: 55/147 |
0.52063 (±0.00392) Rank: 41/147 |
0.66800 (±0.00455) Rank: 41/147 |
| mr | 7758.9 | 607.09 | 94.04 Rank: 83/147 |
5234.69 Rank: 51/147 |
4.301 Rank: 47/147 |
0.50187 Rank: 75/147 |
0.44200 (±0.00561) Rank: 53/147 |
0.55262 (±0.00636) Rank: 57/147 |
| psm | 7768.4 | 232.15 | 94.16 Rank: 50/147 |
3190.47 Rank: 74/147 |
3.647 Rank: 28/147 |
0.54538 Rank: 17/147 |
0.46268 (±0.01033) Rank: 40/147 |
0.54149 (±0.01029) Rank: 40/147 |
| sf | 7860.0 | 696.07 | 96.89 Rank: 114/147 |
6339.90 Rank: 60/147 |
4.566 Rank: 47/147 |
0.33677 Rank: 94/147 |
0.70344 (±0.01056) Rank: 94/147 |
0.78334 (±0.01171) Rank: 101/147 |
| spc | 7849.5 | 395.53 | 98.88 Rank: 80/147 |
3989.54 Rank: 72/147 |
4.435 Rank: 42/147 |
0.49979 Rank: 84/147 |
0.70336 (±0.00316) Rank: 49/147 |
0.80156 (±0.00316) Rank: 47/147 |
| avg | 7829.6 | 480.13 | 97.67 Rank: 63/147 |
4167.34 Rank: 65/147 |
4.566 Rank: 31/147 |
0.41676 Rank: 44/147 |
0.61740 (±0.00231) Rank: 44/147 |
0.71542 (±0.00274) Rank: 44/147 |
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 —
