Submission ID: 00057
HardNet-Upright w/ MAGSAC
Processed: 20-04-23. Download link: sid-00057-hardnet-upright-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-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. 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: 0.53730 (±0.00082 over 3 run(s) / ±0.14210 over 9 scenes)
Rank (per category): 46 (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 | 629.0 | 0.520 Rank: 93/147 |
0.928 Rank: 93/147 |
0.21680 (±0.00134) Rank: 54/147 |
0.33930 (±0.00038) Rank: 53/147 |
| fcs | 7838.2 | 860.2 | 860.2 | 769.6 | 0.465 Rank: 40/147 |
0.921 Rank: 92/147 |
0.61998 (±0.00235) Rank: 50/147 |
0.73650 (±0.00250) Rank: 55/147 |
| lms | 7720.4 | 526.8 | 526.8 | 428.6 | 0.467 Rank: 74/147 |
0.663 Rank: 108/147 |
0.55124 (±0.00046) Rank: 38/147 |
0.66359 (±0.00070) Rank: 48/147 |
| lb | 7935.2 | 504.0 | 504.0 | 402.9 | 0.492 Rank: 25/147 |
0.756 Rank: 67/147 |
0.47403 (±0.00134) Rank: 54/147 |
0.57781 (±0.00332) Rank: 42/147 |
| mc | 7779.6 | 740.5 | 740.5 | 653.7 | 0.549 Rank: 42/147 |
0.942 Rank: 94/147 |
0.38680 (±0.00134) Rank: 54/147 |
0.54078 (±0.00218) Rank: 56/147 |
| mr | 7758.9 | 725.0 | 725.0 | 674.8 | 0.479 Rank: 30/147 |
0.955 Rank: 87/147 |
0.33417 (±0.00481) Rank: 37/147 |
0.44673 (±0.00299) Rank: 38/147 |
| psm | 7768.4 | 413.4 | 413.4 | 351.8 | 0.407 Rank: 44/147 |
0.698 Rank: 34/147 |
0.16588 (±0.00098) Rank: 37/147 |
0.28865 (±0.00075) Rank: 36/147 |
| sf | 7860.0 | 882.3 | 882.3 | 805.1 | 0.498 Rank: 42/147 |
0.857 Rank: 103/147 |
0.51776 (±0.00256) Rank: 44/147 |
0.64519 (±0.00224) Rank: 46/147 |
| spc | 7849.5 | 627.7 | 627.7 | 527.1 | 0.501 Rank: 51/147 |
0.849 Rank: 84/147 |
0.44461 (±0.00120) Rank: 50/147 |
0.59712 (±0.00189) Rank: 49/147 |
| avg | 7829.6 | 666.2 | 666.2 | 582.5 | 0.486 Rank: 45/147 |
0.841 Rank: 67/147 |
0.41236 (±0.00147) Rank: 45/147 |
0.53730 (±0.00082) Rank: 46/147 |
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 |
0.43129 Rank: 33/147 |
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 |
0.26611 Rank: 100/147 |
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 |
0.26782 Rank: 16/147 |
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 |
0.50505 Rank: 84/147 |
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 |
0.39217 Rank: 50/147 |
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 |
0.50373 Rank: 78/147 |
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 |
0.54760 Rank: 18/147 |
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 |
0.34188 Rank: 98/147 |
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 |
0.49119 Rank: 81/147 |
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 |
0.41631 Rank: 42/147 |
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 —
