Submission ID: 0c9941bd

R2D2 (WASF-n16, MultiScale) github release

Processed: 21-12-23. Download link: 0c9941bda7e6ee40-r2d2-2k-github.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.

Phototourism dataset: Stereo track / Multiview track
Prague Parks dataset: Stereo track / Multiview track
Google Urban dataset: Stereo track / Multiview track

Metadata

Authors: Anonymous (to be released: 2021-6-18)
Keypoint: r2d2-2k
Descriptor: r2d2-2k (128 float32: 512 bytes)
Number of features: 2048
Summary: R2D2 run using the configuration of challenge organizers at IMB2020
Paper: N/A
Website: Anonymous (to be released: 2021-6-18)
Processing date: 21-12-23

Phototourism dataset / Stereo track

mAA at 10 degrees: 0.39017 (±0.00000 over 1 run(s) / ±0.13717 over 9 scenes)
Rank (per category): 69 (of 87)

Scene	Features	Matches (raw)	Matches (filter)	Matches (final)	Rep. @ 3 px.	MS @ 3 px.	mAA(5^o)	mAA(10^o)
BM	2048.0	307.5	307.5	215.1	0.496 Rank: 26/87	0.877 Rank: 62/87	0.15327 (±0.00000) Rank: 63/87	0.24998 (±0.00000) Rank: 63/87
FCS	2048.0	287.7	287.7	192.1	0.396 Rank: 51/87	0.835 Rank: 62/87	0.45962 (±0.00000) Rank: 65/87	0.60192 (±0.00000) Rank: 65/87
LMS	2048.0	298.9	298.9	220.4	0.360 Rank: 69/87	0.662 Rank: 66/87	0.47044 (±0.00000) Rank: 59/87	0.60083 (±0.00000) Rank: 58/87
LB	2048.0	232.1	232.1	148.2	0.377 Rank: 55/87	0.698 Rank: 48/87	0.31521 (±0.00000) Rank: 63/87	0.42653 (±0.00000) Rank: 65/87
MC	2048.0	308.5	308.5	228.7	0.534 Rank: 11/87	0.885 Rank: 32/87	0.20109 (±0.00000) Rank: 63/87	0.33306 (±0.00000) Rank: 76/87
MR	2048.0	346.5	346.5	270.6	0.497 Rank: 2/87	0.923 Rank: 14/87	0.20222 (±0.00000) Rank: 66/87	0.29663 (±0.00000) Rank: 63/87
PSM	2048.0	225.0	225.0	149.6	0.343 Rank: 36/87	0.355 Rank: 78/87	0.08946 (±0.00000) Rank: 68/87	0.17589 (±0.00000) Rank: 66/87
SF	2048.0	305.4	305.4	217.4	0.430 Rank: 5/87	0.741 Rank: 69/87	0.29151 (±0.00000) Rank: 73/87	0.42195 (±0.00000) Rank: 73/87
SPC	2048.0	266.3	266.3	171.5	0.431 Rank: 20/87	0.735 Rank: 69/87	0.26510 (±0.00000) Rank: 74/87	0.40473 (±0.00000) Rank: 72/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_matcher_9 }}	{{ num_matches_filter_9 }}	{{ num_matches_geom_9 }}	{{ repeatability_9 }} Rank: {{ repeatability_rank_9 }}/87	{{ matching_score_9 }} Rank: {{ matching_score_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_matcher_10 }}	{{ num_matches_filter_10 }}	{{ num_matches_geom_10 }}	{{ repeatability_10 }} Rank: {{ repeatability_rank_10 }}/87	{{ matching_score_10 }} Rank: {{ matching_score_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_matcher_11 }}	{{ num_matches_filter_11 }}	{{ num_matches_geom_11 }}	{{ repeatability_11 }} Rank: {{ repeatability_rank_11 }}/87	{{ matching_score_11 }} Rank: {{ matching_score_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_matcher_12 }}	{{ num_matches_filter_12 }}	{{ num_matches_geom_12 }}	{{ repeatability_12 }} Rank: {{ repeatability_rank_12 }}/87	{{ matching_score_12 }} Rank: {{ matching_score_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_matcher_13 }}	{{ num_matches_filter_13 }}	{{ num_matches_geom_13 }}	{{ repeatability_13 }} Rank: {{ repeatability_rank_13 }}/87	{{ matching_score_13 }} Rank: {{ matching_score_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_matcher_14 }}	{{ num_matches_filter_14 }}	{{ num_matches_geom_14 }}	{{ repeatability_14 }} Rank: {{ repeatability_rank_14 }}/87	{{ matching_score_14 }} Rank: {{ matching_score_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_matcher_15 }}	{{ num_matches_filter_15 }}	{{ num_matches_geom_15 }}	{{ repeatability_15 }} Rank: {{ repeatability_rank_15 }}/87	{{ matching_score_15 }} Rank: {{ matching_score_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_matcher_16 }}	{{ num_matches_filter_16 }}	{{ num_matches_geom_16 }}	{{ repeatability_16 }} Rank: {{ repeatability_rank_16 }}/87	{{ matching_score_16 }} Rank: {{ matching_score_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_matcher_17 }}	{{ num_matches_filter_17 }}	{{ num_matches_geom_17 }}	{{ repeatability_17 }} Rank: {{ repeatability_rank_17 }}/87	{{ matching_score_17 }} Rank: {{ matching_score_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_matcher_18 }}	{{ num_matches_filter_18 }}	{{ num_matches_geom_18 }}	{{ repeatability_18 }} Rank: {{ repeatability_rank_18 }}/87	{{ matching_score_18 }} Rank: {{ matching_score_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_matcher_19 }}	{{ num_matches_filter_19 }}	{{ num_matches_geom_19 }}	{{ repeatability_19 }} Rank: {{ repeatability_rank_19 }}/87	{{ matching_score_19 }} Rank: {{ matching_score_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
{{ scene_20 }}	{{ num_keypoints_20 }}	{{ num_matches_matcher_20 }}	{{ num_matches_filter_20 }}	{{ num_matches_geom_20 }}	{{ repeatability_20 }} Rank: {{ repeatability_rank_20 }}/87	{{ matching_score_20 }} Rank: {{ matching_score_rank_20 }}/87	{{ map5_20 }} (±{{ map5_std_20 }}) Rank: {{ map5_rank_20 }}/87	{{ map10_20 }} (±{{ map10_std_20 }}) Rank: {{ map10_rank_20 }}/87
Avg	2048.0	286.4	286.4	201.5	0.429 Rank: 20/87	0.746 Rank: 72/87	0.27199 (±0.00000) Rank: 71/87	0.39017 (±0.00000) Rank: 69/87

Phototourism dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15652 over 9 scenes)
Rank (per category): 68 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
BM	2048.0	306.85	99.73 Rank: 56/87	937.78 Rank: 76/87	4.470 Rank: 74/87	0.60037 Rank: 65/87	0.36402 (±0.00000) Rank: 65/87	0.51412 (±0.00000) Rank: 65/87
FCS	2048.0	298.19	97.15 Rank: 53/87	1400.05 Rank: 77/87	4.156 Rank: 72/87	0.28263 Rank: 65/87	0.69469 (±0.00000) Rank: 61/87	0.77490 (±0.00000) Rank: 56/87
LMS	2048.0	322.61	99.00 Rank: 53/87	1376.89 Rank: 63/87	4.393 Rank: 79/87	0.32899 Rank: 66/87	0.78434 (±0.00000) Rank: 64/87	0.84852 (±0.00000) Rank: 68/87
LB	2048.0	267.60	97.52 Rank: 63/87	907.79 Rank: 75/87	4.560 Rank: 68/87	0.47558 Rank: 19/87	0.61243 (±0.00000) Rank: 64/87	0.73035 (±0.00000) Rank: 62/87
MC	2048.0	303.18	99.73 Rank: 54/87	1007.56 Rank: 75/87	4.725 Rank: 60/87	0.42499 Rank: 63/87	0.44406 (±0.00000) Rank: 69/87	0.60216 (±0.00000) Rank: 67/87
MR	2048.0	346.06	94.07 Rank: 43/87	1236.44 Rank: 67/87	4.493 Rank: 64/87	0.52517 Rank: 37/87	0.36271 (±0.00000) Rank: 59/87	0.48864 (±0.00000) Rank: 57/87
PSM	2048.0	224.97	86.66 Rank: 68/87	1611.06 Rank: 68/87	2.944 Rank: 74/87	0.74451 Rank: 71/87	0.25044 (±0.00000) Rank: 70/87	0.33650 (±0.00000) Rank: 70/87
SF	2048.0	303.13	95.64 Rank: 63/87	1402.40 Rank: 76/87	4.380 Rank: 74/87	0.33935 Rank: 66/87	0.66690 (±0.00000) Rank: 66/87	0.75389 (±0.00000) Rank: 65/87
SPC	2048.0	275.65	97.33 Rank: 69/87	1152.72 Rank: 76/87	4.399 Rank: 69/87	0.57631 Rank: 67/87	0.60197 (±0.00000) Rank: 70/87	0.71320 (±0.00000) Rank: 70/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_9 }}	{{ ratio_registered_cameras_9 }} Rank: {{ ratio_registered_cameras_rank_9 }}/87	{{ num_landmarks_9 }} Rank: {{ num_landmarks_rank_9 }}/87	{{ track_length_9 }} Rank: {{ track_length_rank_9 }}/87	{{ ate_9 }} Rank: {{ ate_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_10 }}	{{ ratio_registered_cameras_10 }} Rank: {{ ratio_registered_cameras_rank_10 }}/87	{{ num_landmarks_10 }} Rank: {{ num_landmarks_rank_10 }}/87	{{ track_length_10 }} Rank: {{ track_length_rank_10 }}/87	{{ ate_10 }} Rank: {{ ate_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_11 }}	{{ ratio_registered_cameras_11 }} Rank: {{ ratio_registered_cameras_rank_11 }}/87	{{ num_landmarks_11 }} Rank: {{ num_landmarks_rank_11 }}/87	{{ track_length_11 }} Rank: {{ track_length_rank_11 }}/87	{{ ate_11 }} Rank: {{ ate_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_12 }}	{{ ratio_registered_cameras_12 }} Rank: {{ ratio_registered_cameras_rank_12 }}/87	{{ num_landmarks_12 }} Rank: {{ num_landmarks_rank_12 }}/87	{{ track_length_12 }} Rank: {{ track_length_rank_12 }}/87	{{ ate_12 }} Rank: {{ ate_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_13 }}	{{ ratio_registered_cameras_13 }} Rank: {{ ratio_registered_cameras_rank_13 }}/87	{{ num_landmarks_13 }} Rank: {{ num_landmarks_rank_13 }}/87	{{ track_length_13 }} Rank: {{ track_length_rank_13 }}/87	{{ ate_13 }} Rank: {{ ate_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_14 }}	{{ ratio_registered_cameras_14 }} Rank: {{ ratio_registered_cameras_rank_14 }}/87	{{ num_landmarks_14 }} Rank: {{ num_landmarks_rank_14 }}/87	{{ track_length_14 }} Rank: {{ track_length_rank_14 }}/87	{{ ate_14 }} Rank: {{ ate_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_15 }}	{{ ratio_registered_cameras_15 }} Rank: {{ ratio_registered_cameras_rank_15 }}/87	{{ num_landmarks_15 }} Rank: {{ num_landmarks_rank_15 }}/87	{{ track_length_15 }} Rank: {{ track_length_rank_15 }}/87	{{ ate_15 }} Rank: {{ ate_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_16 }}	{{ ratio_registered_cameras_16 }} Rank: {{ ratio_registered_cameras_rank_16 }}/87	{{ num_landmarks_16 }} Rank: {{ num_landmarks_rank_16 }}/87	{{ track_length_16 }} Rank: {{ track_length_rank_16 }}/87	{{ ate_16 }} Rank: {{ ate_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_17 }}	{{ ratio_registered_cameras_17 }} Rank: {{ ratio_registered_cameras_rank_17 }}/87	{{ num_landmarks_17 }} Rank: {{ num_landmarks_rank_17 }}/87	{{ track_length_17 }} Rank: {{ track_length_rank_17 }}/87	{{ ate_17 }} Rank: {{ ate_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_18 }}	{{ ratio_registered_cameras_18 }} Rank: {{ ratio_registered_cameras_rank_18 }}/87	{{ num_landmarks_18 }} Rank: {{ num_landmarks_rank_18 }}/87	{{ track_length_18 }} Rank: {{ track_length_rank_18 }}/87	{{ ate_18 }} Rank: {{ ate_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_19 }}	{{ ratio_registered_cameras_19 }} Rank: {{ ratio_registered_cameras_rank_19 }}/87	{{ num_landmarks_19 }} Rank: {{ num_landmarks_rank_19 }}/87	{{ track_length_19 }} Rank: {{ track_length_rank_19 }}/87	{{ ate_19 }} Rank: {{ ate_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
SPC	{{ num_keypoints_20 }}	{{ num_matches_20 }}	{{ ratio_registered_cameras_20 }} Rank: 69/87	{{ num_landmarks_20 }} Rank: 76/87	{{ track_length_20 }} Rank: 69/87	{{ ate_20 }} Rank: 67/87	{{ map5_20 }} (±0.00000) Rank: 70/87	{{ map10_20 }} (±0.00000) Rank: 70/87
Avg	2048.0	294.25	96.31 Rank: 67/87	1225.85 Rank: 74/87	4.280 Rank: 73/87	0.47755 Rank: 69/87	0.53128 (±0.00000) Rank: 68/87	0.64025 (±0.00000) Rank: 68/87

Prague Parks dataset / Stereo track

mAA at 10 degrees: 0.53886 (±0.00000 over 1 run(s) / ±0.10641 over 3 scenes)
Rank (per category): 54 (of 87)

Scene	Features	Matches (raw)	Matches (filter)	Matches (final)	Rep. @ 3 px.	MS @ 3 px.	mAA(5^o)	mAA(10^o)
Lizard	2048.0	301.1	301.1	166.8	0.019 Rank: 74/87	0.005 Rank: 67/87	0.35201 (±0.00000) Rank: 54/87	0.45229 (±0.00000) Rank: 58/87
Pond	2048.0	334.4	334.4	194.2	0.052 Rank: 26/87	0.049 Rank: 25/87	0.36393 (±0.00000) Rank: 59/87	0.47555 (±0.00000) Rank: 61/87
Tree	2048.0	274.4	274.4	139.8	0.025 Rank: 72/87	0.021 Rank: 50/87	0.59294 (±0.00000) Rank: 44/87	0.68874 (±0.00000) Rank: 45/87
LB	2048.0	232.1	232.1	148.2	0.377 Rank: 55/87	0.698 Rank: 48/87	0.31521 (±0.00000) Rank: 54/87	0.42653 (±0.00000) Rank: 65/87
MC	2048.0	308.5	308.5	228.7	0.534 Rank: 11/87	0.885 Rank: 32/87	0.20109 (±0.00000) Rank: 54/87	0.33306 (±0.00000) Rank: 76/87
MR	2048.0	346.5	346.5	270.6	0.497 Rank: 2/87	0.923 Rank: 14/87	0.20222 (±0.00000) Rank: 66/87	0.29663 (±0.00000) Rank: 63/87
PSM	2048.0	225.0	225.0	149.6	0.343 Rank: 36/87	0.355 Rank: 78/87	0.08946 (±0.00000) Rank: 68/87	0.17589 (±0.00000) Rank: 66/87
SF	2048.0	305.4	305.4	217.4	0.430 Rank: 5/87	0.741 Rank: 69/87	0.29151 (±0.00000) Rank: 73/87	0.42195 (±0.00000) Rank: 73/87
SPC	2048.0	266.3	266.3	171.5	0.431 Rank: 20/87	0.735 Rank: 69/87	0.26510 (±0.00000) Rank: 74/87	0.40473 (±0.00000) Rank: 72/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_matcher_9 }}	{{ num_matches_filter_9 }}	{{ num_matches_geom_9 }}	{{ repeatability_9 }} Rank: {{ repeatability_rank_9 }}/87	{{ matching_score_9 }} Rank: {{ matching_score_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_matcher_10 }}	{{ num_matches_filter_10 }}	{{ num_matches_geom_10 }}	{{ repeatability_10 }} Rank: {{ repeatability_rank_10 }}/87	{{ matching_score_10 }} Rank: {{ matching_score_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_matcher_11 }}	{{ num_matches_filter_11 }}	{{ num_matches_geom_11 }}	{{ repeatability_11 }} Rank: {{ repeatability_rank_11 }}/87	{{ matching_score_11 }} Rank: {{ matching_score_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_matcher_12 }}	{{ num_matches_filter_12 }}	{{ num_matches_geom_12 }}	{{ repeatability_12 }} Rank: {{ repeatability_rank_12 }}/87	{{ matching_score_12 }} Rank: {{ matching_score_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_matcher_13 }}	{{ num_matches_filter_13 }}	{{ num_matches_geom_13 }}	{{ repeatability_13 }} Rank: {{ repeatability_rank_13 }}/87	{{ matching_score_13 }} Rank: {{ matching_score_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_matcher_14 }}	{{ num_matches_filter_14 }}	{{ num_matches_geom_14 }}	{{ repeatability_14 }} Rank: {{ repeatability_rank_14 }}/87	{{ matching_score_14 }} Rank: {{ matching_score_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_matcher_15 }}	{{ num_matches_filter_15 }}	{{ num_matches_geom_15 }}	{{ repeatability_15 }} Rank: {{ repeatability_rank_15 }}/87	{{ matching_score_15 }} Rank: {{ matching_score_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_matcher_16 }}	{{ num_matches_filter_16 }}	{{ num_matches_geom_16 }}	{{ repeatability_16 }} Rank: {{ repeatability_rank_16 }}/87	{{ matching_score_16 }} Rank: {{ matching_score_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_matcher_17 }}	{{ num_matches_filter_17 }}	{{ num_matches_geom_17 }}	{{ repeatability_17 }} Rank: {{ repeatability_rank_17 }}/87	{{ matching_score_17 }} Rank: {{ matching_score_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_matcher_18 }}	{{ num_matches_filter_18 }}	{{ num_matches_geom_18 }}	{{ repeatability_18 }} Rank: {{ repeatability_rank_18 }}/87	{{ matching_score_18 }} Rank: {{ matching_score_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_matcher_19 }}	{{ num_matches_filter_19 }}	{{ num_matches_geom_19 }}	{{ repeatability_19 }} Rank: {{ repeatability_rank_19 }}/87	{{ matching_score_19 }} Rank: {{ matching_score_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
{{ scene_20 }}	{{ num_keypoints_20 }}	{{ num_matches_matcher_20 }}	{{ num_matches_filter_20 }}	{{ num_matches_geom_20 }}	{{ repeatability_20 }} Rank: {{ repeatability_rank_20 }}/87	{{ matching_score_20 }} Rank: {{ matching_score_rank_20 }}/87	{{ map5_20 }} (±{{ map5_std_20 }}) Rank: {{ map5_rank_20 }}/87	{{ map10_20 }} (±{{ map10_std_20 }}) Rank: {{ map10_rank_20 }}/87
Avg	2048.0	303.3	303.3	166.9	0.032 Rank: 72/87	0.025 Rank: 65/87	0.43629 (±0.00000) Rank: 52/87	0.53886 (±0.00000) Rank: 54/87

Prague Parks dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12230 over 3 scenes)
Rank (per category): 59 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
Lizard	2048.0	333.86	81.63 Rank: 61/87	545.89 Rank: 64/87	3.504 Rank: 1/87	13.99031 Rank: 17/87	0.46440 (±0.00000) Rank: 62/87	0.54737 (±0.00000) Rank: 62/87
Pond	2048.0	381.74	67.53 Rank: 45/87	612.73 Rank: 66/87	2.835 Rank: 50/87	0.40259 Rank: 6/87	0.22893 (±0.00000) Rank: 65/87	0.27209 (±0.00000) Rank: 62/87
Tree	2048.0	301.21	72.59 Rank: 7/87	419.50 Rank: 56/87	3.170 Rank: 2/87	6.11755 Rank: 54/87	0.47493 (±0.00000) Rank: 4/87	0.51207 (±0.00000) Rank: 5/87
LB	2048.0	267.60	97.52 Rank: 63/87	907.79 Rank: 75/87	4.560 Rank: 68/87	0.47558 Rank: 19/87	0.61243 (±0.00000) Rank: 64/87	0.73035 (±0.00000) Rank: 62/87
MC	2048.0	303.18	99.73 Rank: 54/87	1007.56 Rank: 75/87	4.725 Rank: 60/87	0.42499 Rank: 63/87	0.44406 (±0.00000) Rank: 69/87	0.60216 (±0.00000) Rank: 67/87
MR	2048.0	346.06	94.07 Rank: 43/87	1236.44 Rank: 67/87	4.493 Rank: 64/87	0.52517 Rank: 37/87	0.36271 (±0.00000) Rank: 59/87	0.48864 (±0.00000) Rank: 57/87
PSM	2048.0	224.97	86.66 Rank: 68/87	1611.06 Rank: 68/87	2.944 Rank: 74/87	0.74451 Rank: 71/87	0.25044 (±0.00000) Rank: 70/87	0.33650 (±0.00000) Rank: 70/87
SF	2048.0	303.13	95.64 Rank: 63/87	1402.40 Rank: 76/87	4.380 Rank: 74/87	0.33935 Rank: 66/87	0.66690 (±0.00000) Rank: 66/87	0.75389 (±0.00000) Rank: 65/87
SPC	2048.0	275.65	97.33 Rank: 69/87	1152.72 Rank: 76/87	4.399 Rank: 69/87	0.57631 Rank: 67/87	0.60197 (±0.00000) Rank: 70/87	0.71320 (±0.00000) Rank: 70/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_9 }}	{{ ratio_registered_cameras_9 }} Rank: {{ ratio_registered_cameras_rank_9 }}/87	{{ num_landmarks_9 }} Rank: {{ num_landmarks_rank_9 }}/87	{{ track_length_9 }} Rank: {{ track_length_rank_9 }}/87	{{ ate_9 }} Rank: {{ ate_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_10 }}	{{ ratio_registered_cameras_10 }} Rank: {{ ratio_registered_cameras_rank_10 }}/87	{{ num_landmarks_10 }} Rank: {{ num_landmarks_rank_10 }}/87	{{ track_length_10 }} Rank: {{ track_length_rank_10 }}/87	{{ ate_10 }} Rank: {{ ate_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_11 }}	{{ ratio_registered_cameras_11 }} Rank: {{ ratio_registered_cameras_rank_11 }}/87	{{ num_landmarks_11 }} Rank: {{ num_landmarks_rank_11 }}/87	{{ track_length_11 }} Rank: {{ track_length_rank_11 }}/87	{{ ate_11 }} Rank: {{ ate_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_12 }}	{{ ratio_registered_cameras_12 }} Rank: {{ ratio_registered_cameras_rank_12 }}/87	{{ num_landmarks_12 }} Rank: {{ num_landmarks_rank_12 }}/87	{{ track_length_12 }} Rank: {{ track_length_rank_12 }}/87	{{ ate_12 }} Rank: {{ ate_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_13 }}	{{ ratio_registered_cameras_13 }} Rank: {{ ratio_registered_cameras_rank_13 }}/87	{{ num_landmarks_13 }} Rank: {{ num_landmarks_rank_13 }}/87	{{ track_length_13 }} Rank: {{ track_length_rank_13 }}/87	{{ ate_13 }} Rank: {{ ate_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_14 }}	{{ ratio_registered_cameras_14 }} Rank: {{ ratio_registered_cameras_rank_14 }}/87	{{ num_landmarks_14 }} Rank: {{ num_landmarks_rank_14 }}/87	{{ track_length_14 }} Rank: {{ track_length_rank_14 }}/87	{{ ate_14 }} Rank: {{ ate_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_15 }}	{{ ratio_registered_cameras_15 }} Rank: {{ ratio_registered_cameras_rank_15 }}/87	{{ num_landmarks_15 }} Rank: {{ num_landmarks_rank_15 }}/87	{{ track_length_15 }} Rank: {{ track_length_rank_15 }}/87	{{ ate_15 }} Rank: {{ ate_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_16 }}	{{ ratio_registered_cameras_16 }} Rank: {{ ratio_registered_cameras_rank_16 }}/87	{{ num_landmarks_16 }} Rank: {{ num_landmarks_rank_16 }}/87	{{ track_length_16 }} Rank: {{ track_length_rank_16 }}/87	{{ ate_16 }} Rank: {{ ate_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_17 }}	{{ ratio_registered_cameras_17 }} Rank: {{ ratio_registered_cameras_rank_17 }}/87	{{ num_landmarks_17 }} Rank: {{ num_landmarks_rank_17 }}/87	{{ track_length_17 }} Rank: {{ track_length_rank_17 }}/87	{{ ate_17 }} Rank: {{ ate_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_18 }}	{{ ratio_registered_cameras_18 }} Rank: {{ ratio_registered_cameras_rank_18 }}/87	{{ num_landmarks_18 }} Rank: {{ num_landmarks_rank_18 }}/87	{{ track_length_18 }} Rank: {{ track_length_rank_18 }}/87	{{ ate_18 }} Rank: {{ ate_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_19 }}	{{ ratio_registered_cameras_19 }} Rank: {{ ratio_registered_cameras_rank_19 }}/87	{{ num_landmarks_19 }} Rank: {{ num_landmarks_rank_19 }}/87	{{ track_length_19 }} Rank: {{ track_length_rank_19 }}/87	{{ ate_19 }} Rank: {{ ate_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
SPC	{{ num_keypoints_20 }}	{{ num_matches_20 }}	{{ ratio_registered_cameras_20 }} Rank: 69/87	{{ num_landmarks_20 }} Rank: 76/87	{{ track_length_20 }} Rank: 69/87	{{ ate_20 }} Rank: 67/87	{{ map5_20 }} (±0.00000) Rank: 70/87	{{ map10_20 }} (±0.00000) Rank: 70/87
Avg	2048.0	338.94	73.92 Rank: 56/87	526.04 Rank: 64/87	3.170 Rank: 12/87	6.83682 Rank: 23/87	0.38942 (±0.00000) Rank: 58/87	0.44384 (±0.00000) Rank: 59/87