Submission ID: 00058
HardNet-Upright w/ MAGSAC (no FLANN)
Processed: 20-04-23. Download link: sid-00058-hardnet-upright-8k-both-magsac-no-flann.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. FLANN disabled.
- 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: 0.56374 (±0.00069 over 3 run(s) / ±0.14678 over 9 scenes)
Rank (per category): 24 (of 147)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 7956.3 | 769.8 | 769.8 | 685.7 | 0.520 Rank: 93/147 |
0.933 Rank: 84/147 |
0.23735 (±0.00331) Rank: 41/147 |
0.36450 (±0.00410) Rank: 39/147 |
| fcs | 7838.2 | 949.1 | 949.1 | 862.8 | 0.465 Rank: 40/147 |
0.925 Rank: 83/147 |
0.63558 (±0.00265) Rank: 29/147 |
0.74997 (±0.00150) Rank: 22/147 |
| lms | 7720.4 | 601.6 | 601.6 | 505.1 | 0.467 Rank: 74/147 |
0.660 Rank: 116/147 |
0.58643 (±0.00138) Rank: 18/147 |
0.70099 (±0.00121) Rank: 21/147 |
| lb | 7935.2 | 575.7 | 575.7 | 472.2 | 0.492 Rank: 25/147 |
0.772 Rank: 39/147 |
0.52292 (±0.00331) Rank: 41/147 |
0.62879 (±0.00135) Rank: 20/147 |
| mc | 7779.6 | 929.4 | 929.4 | 844.4 | 0.549 Rank: 42/147 |
0.949 Rank: 78/147 |
0.40301 (±0.00331) Rank: 41/147 |
0.55850 (±0.00187) Rank: 32/147 |
| mr | 7758.9 | 947.2 | 947.2 | 893.0 | 0.479 Rank: 30/147 |
0.958 Rank: 79/147 |
0.34579 (±0.00071) Rank: 25/147 |
0.46155 (±0.00304) Rank: 24/147 |
| psm | 7768.4 | 476.9 | 476.9 | 417.5 | 0.407 Rank: 44/147 |
0.755 Rank: 21/147 |
0.17468 (±0.00107) Rank: 29/147 |
0.30183 (±0.00239) Rank: 29/147 |
| sf | 7860.0 | 1165.7 | 1165.7 | 1079.6 | 0.498 Rank: 42/147 |
0.868 Rank: 81/147 |
0.55658 (±0.00177) Rank: 11/147 |
0.67808 (±0.00109) Rank: 15/147 |
| spc | 7849.5 | 709.9 | 709.9 | 610.3 | 0.501 Rank: 51/147 |
0.860 Rank: 65/147 |
0.47667 (±0.00328) Rank: 26/147 |
0.62943 (±0.00246) Rank: 27/147 |
| avg | 7829.6 | 791.7 | 791.7 | 707.9 | 0.486 Rank: 45/147 |
0.853 Rank: 36/147 |
0.43767 (±0.00127) Rank: 25/147 |
0.56374 (±0.00069) Rank: 24/147 |
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: 0.72309 (±0.00141 over 3 run(s) / ±0.10908 over 9 scenes)
Rank (per category): 35 (of 147)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 7956.3 | 475.59 | 99.91 Rank: 20/147 |
2931.29 Rank: 72/147 |
5.179 Rank: 18/147 |
0.42315 Rank: 25/147 |
0.50318 (±0.00251) Rank: 30/147 |
0.65640 (±0.00230) Rank: 23/147 |
| fcs | 7838.2 | 623.92 | 97.45 Rank: 100/147 |
4985.22 Rank: 63/147 |
4.653 Rank: 34/147 |
0.25686 Rank: 75/147 |
0.71492 (±0.00805) Rank: 85/147 |
0.77940 (±0.00827) Rank: 90/147 |
| lms | 7720.4 | 358.18 | 99.22 Rank: 55/147 |
3126.41 Rank: 93/147 |
4.568 Rank: 41/147 |
0.26837 Rank: 18/147 |
0.83624 (±0.00973) Rank: 36/147 |
0.89405 (±0.01053) Rank: 29/147 |
| lb | 7935.2 | 428.96 | 98.42 Rank: 63/147 |
3212.02 Rank: 66/147 |
4.792 Rank: 39/147 |
0.48562 Rank: 41/147 |
0.68590 (±0.00546) Rank: 41/147 |
0.77945 (±0.00716) Rank: 40/147 |
| mc | 7779.6 | 581.76 | 99.85 Rank: 34/147 |
4533.46 Rank: 57/147 |
4.836 Rank: 48/147 |
0.36840 Rank: 23/147 |
0.52395 (±0.00065) Rank: 38/147 |
0.67324 (±0.00077) Rank: 33/147 |
| mr | 7758.9 | 688.20 | 94.78 Rank: 45/147 |
5573.55 Rank: 40/147 |
4.313 Rank: 45/147 |
0.49966 Rank: 72/147 |
0.46019 (±0.01206) Rank: 37/147 |
0.57561 (±0.01431) Rank: 35/147 |
| psm | 7768.4 | 240.59 | 94.50 Rank: 45/147 |
3222.11 Rank: 70/147 |
3.651 Rank: 26/147 |
0.58194 Rank: 28/147 |
0.47018 (±0.01107) Rank: 34/147 |
0.54783 (±0.01418) Rank: 38/147 |
| sf | 7860.0 | 785.24 | 97.15 Rank: 98/147 |
6724.44 Rank: 39/147 |
4.541 Rank: 54/147 |
0.32287 Rank: 59/147 |
0.72168 (±0.00500) Rank: 54/147 |
0.80208 (±0.00551) Rank: 67/147 |
| spc | 7849.5 | 399.14 | 98.86 Rank: 85/147 |
3945.14 Rank: 76/147 |
4.400 Rank: 47/147 |
0.50418 Rank: 87/147 |
0.70054 (±0.00125) Rank: 51/147 |
0.79971 (±0.00206) Rank: 51/147 |
| avg | 7829.6 | 509.07 | 97.79 Rank: 55/147 |
4250.40 Rank: 60/147 |
4.548 Rank: 39/147 |
0.41234 Rank: 39/147 |
0.62409 (±0.00082) Rank: 37/147 |
0.72309 (±0.00141) Rank: 35/147 |
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 —
