Submission ID: 285d4eb3

LANet

Processed: 23-01-03. Download link: 285d4eb3362aa20bd13d-lanet-v1-1024-snnth-0.99-inlth-1.0.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: Submitted by benchmark orgs, implementation by paper authors (contact)
Keypoint: lanet-v1-1024
Descriptor: lanet-v1-1024 (256 float32: 1024 bytes)
Number of features: 2048
Summary: Baseline, LANet 2048 features Matched using the built-in matcher (bidirectional filter with the both strategy, hopefully optimal inlier and ratio test thresholds) with DEGENSAC
Paper: https://openaccess.thecvf.com/content/ACCV2022/papers/Wang_Rethinking_Low-level_Features_for_Interest_Point_Detection_and_Description_ACCV_2022_paper.pdf
Website: https://github.com/wangch-g/lanet
Processing date: 23-01-03

Phototourism dataset / Stereo track

mAA at 10 degrees: 0.40840 (±0.00000 over 1 run(s) / ±0.12861 over 9 scenes)
Rank (per category): 67 (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	356.9	356.9	149.6	0.520 Rank: 22/87	0.914 Rank: 26/87	0.19857 (±0.00000) Rank: 58/87	0.31426 (±0.00000) Rank: 58/87
FCS	2048.0	341.9	341.9	153.2	0.409 Rank: 33/87	0.854 Rank: 57/87	0.47872 (±0.00000) Rank: 63/87	0.60533 (±0.00000) Rank: 63/87
LMS	2048.0	403.9	403.9	210.4	0.419 Rank: 37/87	0.685 Rank: 42/87	0.45584 (±0.00000) Rank: 64/87	0.56554 (±0.00000) Rank: 66/87
LB	2048.0	354.0	354.0	129.3	0.398 Rank: 34/87	0.689 Rank: 52/87	0.34305 (±0.00000) Rank: 58/87	0.43491 (±0.00000) Rank: 63/87
MC	2048.0	362.7	362.7	154.3	0.488 Rank: 23/87	0.886 Rank: 31/87	0.27019 (±0.00000) Rank: 58/87	0.40804 (±0.00000) Rank: 57/87
MR	2048.0	386.2	386.2	159.3	0.441 Rank: 13/87	0.830 Rank: 71/87	0.20866 (±0.00000) Rank: 60/87	0.30139 (±0.00000) Rank: 61/87
PSM	2048.0	247.0	247.0	83.0	0.348 Rank: 33/87	0.358 Rank: 77/87	0.08550 (±0.00000) Rank: 70/87	0.16209 (±0.00000) Rank: 69/87
SF	2048.0	404.3	404.3	161.0	0.400 Rank: 9/87	0.774 Rank: 59/87	0.34588 (±0.00000) Rank: 67/87	0.46885 (±0.00000) Rank: 68/87
SPC	2048.0	336.8	336.8	117.9	0.389 Rank: 33/87	0.734 Rank: 70/87	0.29047 (±0.00000) Rank: 70/87	0.41521 (±0.00000) Rank: 70/87
{{ 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	354.9	354.9	146.4	0.424 Rank: 24/87	0.747 Rank: 70/87	0.29743 (±0.00000) Rank: 67/87	0.40840 (±0.00000) Rank: 67/87

Phototourism dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.19031 over 9 scenes)
Rank (per category): 71 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
BM	2048.0	356.60	98.24 Rank: 79/87	1232.67 Rank: 58/87	4.202 Rank: 80/87	0.72946 Rank: 76/87	0.29932 (±0.00000) Rank: 73/87	0.42700 (±0.00000) Rank: 75/87
FCS	2048.0	348.52	96.32 Rank: 67/87	1668.13 Rank: 65/87	4.252 Rank: 69/87	0.29586 Rank: 70/87	0.69331 (±0.00000) Rank: 62/87	0.76849 (±0.00000) Rank: 60/87
LMS	2048.0	420.53	99.21 Rank: 40/87	1547.26 Rank: 49/87	5.077 Rank: 64/87	0.30465 Rank: 49/87	0.82244 (±0.00000) Rank: 45/87	0.88451 (±0.00000) Rank: 44/87
LB	2048.0	383.26	97.04 Rank: 67/87	1213.23 Rank: 61/87	4.693 Rank: 65/87	0.48345 Rank: 29/87	0.57558 (±0.00000) Rank: 66/87	0.68516 (±0.00000) Rank: 66/87
MC	2048.0	359.98	98.48 Rank: 67/87	1334.27 Rank: 61/87	4.495 Rank: 65/87	0.47410 Rank: 71/87	0.45516 (±0.00000) Rank: 67/87	0.59423 (±0.00000) Rank: 69/87
MR	2048.0	387.42	91.85 Rank: 66/87	1314.73 Rank: 64/87	4.529 Rank: 63/87	0.64354 Rank: 75/87	0.29941 (±0.00000) Rank: 74/87	0.40989 (±0.00000) Rank: 73/87
PSM	2048.0	244.37	84.14 Rank: 71/87	1764.91 Rank: 62/87	2.755 Rank: 77/87	0.76779 Rank: 72/87	0.17778 (±0.00000) Rank: 73/87	0.26878 (±0.00000) Rank: 71/87
SF	2048.0	402.09	95.37 Rank: 65/87	1717.42 Rank: 66/87	4.510 Rank: 67/87	0.31385 Rank: 59/87	0.69768 (±0.00000) Rank: 59/87	0.77743 (±0.00000) Rank: 61/87
SPC	2048.0	338.85	93.57 Rank: 74/87	1357.05 Rank: 64/87	4.338 Rank: 71/87	0.70242 Rank: 78/87	0.55329 (±0.00000) Rank: 73/87	0.65058 (±0.00000) Rank: 73/87
{{ 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: 74/87	{{ num_landmarks_20 }} Rank: 64/87	{{ track_length_20 }} Rank: 71/87	{{ ate_20 }} Rank: 78/87	{{ map5_20 }} (±0.00000) Rank: 73/87	{{ map10_20 }} (±0.00000) Rank: 73/87
Avg	2048.0	360.18	94.91 Rank: 70/87	1461.08 Rank: 62/87	4.317 Rank: 71/87	0.52390 Rank: 71/87	0.50822 (±0.00000) Rank: 71/87	0.60734 (±0.00000) Rank: 71/87

Prague Parks dataset / Stereo track

mAA at 10 degrees: 0.54283 (±0.00000 over 1 run(s) / ±0.04887 over 3 scenes)
Rank (per category): 52 (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	408.9	408.9	164.2	0.024 Rank: 71/87	0.014 Rank: 6/87	0.36616 (±0.00000) Rank: 52/87	0.47628 (±0.00000) Rank: 54/87
Pond	2048.0	428.6	428.6	187.3	0.054 Rank: 23/87	0.054 Rank: 16/87	0.43527 (±0.00000) Rank: 48/87	0.55992 (±0.00000) Rank: 49/87
Tree	2048.0	371.7	371.7	131.0	0.030 Rank: 37/87	0.022 Rank: 40/87	0.48344 (±0.00000) Rank: 55/87	0.59227 (±0.00000) Rank: 53/87
LB	2048.0	354.0	354.0	129.3	0.398 Rank: 34/87	0.689 Rank: 52/87	0.34305 (±0.00000) Rank: 52/87	0.43491 (±0.00000) Rank: 63/87
MC	2048.0	362.7	362.7	154.3	0.488 Rank: 23/87	0.886 Rank: 31/87	0.27019 (±0.00000) Rank: 52/87	0.40804 (±0.00000) Rank: 57/87
MR	2048.0	386.2	386.2	159.3	0.441 Rank: 13/87	0.830 Rank: 71/87	0.20866 (±0.00000) Rank: 60/87	0.30139 (±0.00000) Rank: 61/87
PSM	2048.0	247.0	247.0	83.0	0.348 Rank: 33/87	0.358 Rank: 77/87	0.08550 (±0.00000) Rank: 70/87	0.16209 (±0.00000) Rank: 69/87
SF	2048.0	404.3	404.3	161.0	0.400 Rank: 9/87	0.774 Rank: 59/87	0.34588 (±0.00000) Rank: 67/87	0.46885 (±0.00000) Rank: 68/87
SPC	2048.0	336.8	336.8	117.9	0.389 Rank: 33/87	0.734 Rank: 70/87	0.29047 (±0.00000) Rank: 70/87	0.41521 (±0.00000) Rank: 70/87
{{ 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	403.1	403.1	160.8	0.036 Rank: 51/87	0.030 Rank: 5/87	0.42829 (±0.00000) Rank: 53/87	0.54283 (±0.00000) Rank: 52/87

Prague Parks dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12757 over 3 scenes)
Rank (per category): 24 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
Lizard	2048.0	437.14	83.77 Rank: 52/87	742.15 Rank: 53/87	3.442 Rank: 13/87	13.60623 Rank: 12/87	0.55444 (±0.00000) Rank: 48/87	0.63618 (±0.00000) Rank: 51/87
Pond	2048.0	496.56	72.40 Rank: 2/87	885.88 Rank: 35/87	3.189 Rank: 2/87	0.44326 Rank: 61/87	0.29711 (±0.00000) Rank: 9/87	0.32469 (±0.00000) Rank: 15/87
Tree	2048.0	384.70	72.13 Rank: 14/87	572.89 Rank: 22/87	3.097 Rank: 5/87	5.87208 Rank: 20/87	0.46491 (±0.00000) Rank: 10/87	0.50211 (±0.00000) Rank: 9/87
LB	2048.0	383.26	97.04 Rank: 67/87	1213.23 Rank: 61/87	4.693 Rank: 65/87	0.48345 Rank: 29/87	0.57558 (±0.00000) Rank: 66/87	0.68516 (±0.00000) Rank: 66/87
MC	2048.0	359.98	98.48 Rank: 67/87	1334.27 Rank: 61/87	4.495 Rank: 65/87	0.47410 Rank: 71/87	0.45516 (±0.00000) Rank: 67/87	0.59423 (±0.00000) Rank: 69/87
MR	2048.0	387.42	91.85 Rank: 66/87	1314.73 Rank: 64/87	4.529 Rank: 63/87	0.64354 Rank: 75/87	0.29941 (±0.00000) Rank: 74/87	0.40989 (±0.00000) Rank: 73/87
PSM	2048.0	244.37	84.14 Rank: 71/87	1764.91 Rank: 62/87	2.755 Rank: 77/87	0.76779 Rank: 72/87	0.17778 (±0.00000) Rank: 73/87	0.26878 (±0.00000) Rank: 71/87
SF	2048.0	402.09	95.37 Rank: 65/87	1717.42 Rank: 66/87	4.510 Rank: 67/87	0.31385 Rank: 59/87	0.69768 (±0.00000) Rank: 59/87	0.77743 (±0.00000) Rank: 61/87
SPC	2048.0	338.85	93.57 Rank: 74/87	1357.05 Rank: 64/87	4.338 Rank: 71/87	0.70242 Rank: 78/87	0.55329 (±0.00000) Rank: 73/87	0.65058 (±0.00000) Rank: 73/87
{{ 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: 74/87	{{ num_landmarks_20 }} Rank: 64/87	{{ track_length_20 }} Rank: 71/87	{{ ate_20 }} Rank: 78/87	{{ map5_20 }} (±0.00000) Rank: 73/87	{{ map10_20 }} (±0.00000) Rank: 73/87
Avg	2048.0	439.47	76.10 Rank: 2/87	733.64 Rank: 48/87	3.243 Rank: 2/87	6.64052 Rank: 13/87	0.43882 (±0.00000) Rank: 21/87	0.48766 (±0.00000) Rank: 24/87