Submission ID: 29f8cfce

LoFTR_v4

Processed: 21-06-15. Download link: 29f8cfce05f7db9c-loftr_v4.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


Phototourism dataset / Stereo track


mAA at 10 degrees: 0.60907 (±0.00000 over 1 run(s) / ±0.14832 over 9 scenes)
Rank (per category): 10 (of 51)

Scene Features Matches
(raw)
Matches
(final)
Rep. @ 3 px. MS @ 3 px. mAA(5o) mAA(10o)
BM 7339.0 914.7 0.532
Rank: 31/51
0.905
Rank: 32/51
0.47369 (±0.00000)
Rank: 6/51
0.62398 (±0.00000)
Rank: 6/51
FCS 7544.5 769.7 0.427
Rank: 43/51
0.884
Rank: 28/51
0.65185 (±0.00000)
Rank: 15/51
0.77072 (±0.00000)
Rank: 15/51
LMS 6690.9 358.6 0.348
Rank: 47/51
0.673
Rank: 29/51
0.62043 (±0.00000)
Rank: 2/51
0.73131 (±0.00000)
Rank: 3/51
LB 7210.4 808.7 0.672
Rank: 5/51
0.681
Rank: 40/51
0.53308 (±0.00000)
Rank: 6/51
0.62529 (±0.00000)
Rank: 14/51
MC 7435.4 999.8 0.616
Rank: 26/51
0.869
Rank: 36/51
0.42464 (±0.00000)
Rank: 6/51
0.57779 (±0.00000)
Rank: 11/51
MR 7202.1 812.0 0.486
Rank: 31/51
0.898
Rank: 35/51
0.29225 (±0.00000)
Rank: 29/51
0.40548 (±0.00000)
Rank: 29/51
PSM 7401.1 549.6 0.417
Rank: 30/51
0.611
Rank: 39/51
0.19388 (±0.00000)
Rank: 18/51
0.31214 (±0.00000)
Rank: 21/51
SF 6892.1 527.0 0.385
Rank: 44/51
0.815
Rank: 27/51
0.55630 (±0.00000)
Rank: 9/51
0.68326 (±0.00000)
Rank: 12/51
SPC 7444.9 901.7 0.529
Rank: 26/51
0.800
Rank: 33/51
0.61279 (±0.00000)
Rank: 3/51
0.75163 (±0.00000)
Rank: 3/51
Avg 7240.0 738.0 0.490
Rank: 30/51
0.793
Rank: 35/51
0.48432 (±0.00000)
Rank: 9/51
0.60907 (±0.00000)
Rank: 10/51




Phototourism dataset / Multiview track


mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10346 over 9 scenes)
Rank (per category): 9 (of 51)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
BM 7339.0 901.18 99.84
Rank: 18/51
8684.76
Rank: 2/51
4.867
Rank: 29/51
0.35016
Rank: 5/51
0.60395 (±0.00000)
Rank: 3/51
0.73874 (±0.00000)
Rank: 3/51
FCS 7544.5 764.64 98.33
Rank: 16/51
8535.38
Rank: 10/51
4.483
Rank: 29/51
0.22433
Rank: 11/51
0.76350 (±0.00000)
Rank: 14/51
0.82499 (±0.00000)
Rank: 11/51
LMS 6690.9 370.11 98.53
Rank: 34/51
4602.76
Rank: 18/51
3.977
Rank: 44/51
0.31641
Rank: 25/51
0.80518 (±0.00000)
Rank: 24/51
0.85954 (±0.00000)
Rank: 27/51
LB 7210.4 929.86 97.89
Rank: 29/51
7233.55
Rank: 2/51
5.394
Rank: 11/51
0.47784
Rank: 17/51
0.70875 (±0.00000)
Rank: 20/51
0.80077 (±0.00000)
Rank: 20/51
MC 7435.4 980.48 99.80
Rank: 29/51
8408.24
Rank: 3/51
5.271
Rank: 25/51
0.29959
Rank: 1/51
0.60109 (±0.00000)
Rank: 1/51
0.74332 (±0.00000)
Rank: 1/51
MR 7202.1 775.01 94.27
Rank: 28/51
7946.47
Rank: 12/51
4.475
Rank: 28/51
0.55541
Rank: 41/51
0.43548 (±0.00000)
Rank: 29/51
0.55086 (±0.00000)
Rank: 30/51
PSM 7401.1 528.92 99.21
Rank: 13/51
8394.57
Rank: 11/51
3.397
Rank: 30/51
0.42783
Rank: 16/51
0.52578 (±0.00000)
Rank: 17/51
0.62447 (±0.00000)
Rank: 16/51
SF 6892.1 517.77 99.73
Rank: 12/51
7478.55
Rank: 14/51
4.100
Rank: 41/51
0.28159
Rank: 6/51
0.78079 (±0.00000)
Rank: 8/51
0.86685 (±0.00000)
Rank: 7/51
SPC 7444.9 904.84 100.00
Rank: 1/51
9063.37
Rank: 2/51
4.835
Rank: 25/51
0.44103
Rank: 17/51
0.75244 (±0.00000)
Rank: 8/51
0.83934 (±0.00000)
Rank: 9/51
Avg 7240.0 741.42 98.62
Rank: 20/51
7816.40
Rank: 9/51
4.533
Rank: 29/51
0.37491
Rank: 13/51
0.66411 (±0.00000)
Rank: 11/51
0.76099 (±0.00000)
Rank: 9/51



Prague Parks dataset / Stereo track


mAA at 10 degrees: 0.75469 (±0.00000 over 1 run(s) / ±0.07716 over 3 scenes)
Rank (per category): 6 (of 51)

Scene Features Matches
(raw)
Matches
(final)
Rep. @ 3 px. MS @ 3 px. mAA(5o) mAA(10o)
Lizard 7573.2 286.3 0.087
Rank: 28/51
0.012
Rank: 6/51
0.59085 (±0.00000)
Rank: 5/51
0.71096 (±0.00000)
Rank: 5/51
Pond 7866.3 405.4 0.108
Rank: 33/51
0.044
Rank: 37/51
0.56954 (±0.00000)
Rank: 9/51
0.68998 (±0.00000)
Rank: 12/51
Tree 7712.7 606.7 0.133
Rank: 13/51
0.020
Rank: 15/51
0.79426 (±0.00000)
Rank: 4/51
0.86313 (±0.00000)
Rank: 5/51
Avg 7717.4 432.8 0.109
Rank: 26/51
0.025
Rank: 33/51
0.65155 (±0.00000)
Rank: 6/51
0.75469 (±0.00000)
Rank: 6/51




Prague Parks dataset / Multiview track


mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10032 over 3 scenes)
Rank (per category): 19 (of 51)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
Lizard 7573.2 243.19 81.90
Rank: 31/51
759.60
Rank: 33/51
2.754
Rank: 35/51
14.06322
Rank: 21/51
0.50298 (±0.00000)
Rank: 25/51
0.58539 (±0.00000)
Rank: 28/51
Pond 7866.3 346.23 71.80
Rank: 6/51
729.11
Rank: 33/51
2.419
Rank: 37/51
0.44064
Rank: 34/51
0.31502 (±0.00000)
Rank: 1/51
0.34118 (±0.00000)
Rank: 3/51
Tree 7712.7 375.32 70.40
Rank: 30/51
939.07
Rank: 32/51
2.493
Rank: 39/51
5.84978
Rank: 13/51
0.45471 (±0.00000)
Rank: 16/51
0.48694 (±0.00000)
Rank: 15/51
Avg 7717.4 321.58 74.70
Rank: 25/51
809.26
Rank: 34/51
2.556
Rank: 37/51
6.78455
Rank: 15/51
0.42424 (±0.00000)
Rank: 16/51
0.47117 (±0.00000)
Rank: 19/51



Google Urban dataset / Stereo track


mAA at 10 degrees: 0.40600 (±0.00000 over 1 run(s) / ±0.11076 over 17 scenes)
Rank (per category): 6 (of 51)

Scene Features Matches
(raw)
Matches
(final)
mAA(5o) mAA(10o)
Amsterdam (AMS) 6889.5 1301.7 0.28571 (±0.00000)
Rank: 4/51
0.42277 (±0.00000)
Rank: 5/51
Bangkok (BGK) 7136.9 870.4 0.08437 (±0.00000)
Rank: 5/51
0.23201 (±0.00000)
Rank: 5/51
Barcelona (BCN) 6942.6 770.5 0.13114 (±0.00000)
Rank: 13/51
0.21392 (±0.00000)
Rank: 13/51
Buenos Aires (BAR) 6929.5 923.2 0.29315 (±0.00000)
Rank: 4/51
0.43744 (±0.00000)
Rank: 1/51
Cambridge (CAM) 6947.3 779.1 0.29384 (±0.00000)
Rank: 4/51
0.42637 (±0.00000)
Rank: 7/51
Cannes (CAN) 7185.9 1244.8 0.41106 (±0.00000)
Rank: 6/51
0.49724 (±0.00000)
Rank: 10/51
Chicago (CHI) 6958.7 890.2 0.25574 (±0.00000)
Rank: 1/51
0.38675 (±0.00000)
Rank: 2/51
Helsinki (HEL) 6576.5 847.3 0.38144 (±0.00000)
Rank: 6/51
0.58325 (±0.00000)
Rank: 8/51
Madrid (MAD) 7232.6 893.4 0.11915 (±0.00000)
Rank: 2/51
0.25441 (±0.00000)
Rank: 2/51
Mountain View (MTV) 6974.9 797.2 0.26484 (±0.00000)
Rank: 4/51
0.40918 (±0.00000)
Rank: 4/51
New Orleans (NOR) 7289.3 745.0 0.30592 (±0.00000)
Rank: 5/51
0.40000 (±0.00000)
Rank: 8/51
San Francisco (SF) 6875.7 797.5 0.22782 (±0.00000)
Rank: 1/51
0.35381 (±0.00000)
Rank: 3/51
Singapore (SG) 7000.8 1029.9 0.30759 (±0.00000)
Rank: 8/51
0.41741 (±0.00000)
Rank: 9/51
Sydney (SYD) 6925.9 757.3 0.32926 (±0.00000)
Rank: 6/51
0.49651 (±0.00000)
Rank: 4/51
Tokyo (TOK) 6903.2 816.5 0.50196 (±0.00000)
Rank: 9/51
0.64975 (±0.00000)
Rank: 7/51
Toronto (TOR) 6982.3 1064.3 0.22400 (±0.00000)
Rank: 7/51
0.39200 (±0.00000)
Rank: 7/51
Zurich (ZRH) 6854.4 953.4 0.25155 (±0.00000)
Rank: 11/51
0.32921 (±0.00000)
Rank: 8/51
Average (Avg) 6976.8 910.7 0.27462 (±0.00000)
Rank: 6/51
0.40600 (±0.00000)
Rank: 6/51




Google Urban dataset / Multiview track


mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12083 over 17 scenes)
Rank (per category): 7 (of 51)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
AMS 6889.5 803.98 94.67
Rank: 1/51
6993.13
Rank: 2/51
3.711
Rank: 6/51
26.40564
Rank: 22/51
0.36530 (±0.00000)
Rank: 5/51
0.50564 (±0.00000)
Rank: 2/51
BGK 7136.9 625.69 97.87
Rank: 1/51
7104.89
Rank: 6/51
3.516
Rank: 15/51
15.03739
Rank: 26/51
0.03044 (±0.00000)
Rank: 7/51
0.10030 (±0.00000)
Rank: 4/51
BCN 6942.6 456.66 88.84
Rank: 4/51
3502.74
Rank: 3/51
3.322
Rank: 17/51
26.08251
Rank: 13/51
0.16656 (±0.00000)
Rank: 4/51
0.25783 (±0.00000)
Rank: 5/51
BAR 6929.5 516.23 87.25
Rank: 7/51
4328.66
Rank: 4/51
3.216
Rank: 10/51
17.13812
Rank: 25/51
0.17947 (±0.00000)
Rank: 5/51
0.27239 (±0.00000)
Rank: 6/51
CAM 6947.3 462.72 88.19
Rank: 7/51
3880.04
Rank: 7/51
3.227
Rank: 11/51
28.07735
Rank: 25/51
0.18622 (±0.00000)
Rank: 6/51
0.28020 (±0.00000)
Rank: 6/51
CAN 7185.9 627.10 82.96
Rank: 4/51
3580.72
Rank: 1/51
3.262
Rank: 15/51
22.88726
Rank: 24/51
0.12406 (±0.00000)
Rank: 1/51
0.19230 (±0.00000)
Rank: 1/51
CHI 6958.7 794.75 92.59
Rank: 5/51
2166.52
Rank: 1/51
4.893
Rank: 9/51
48.39814
Rank: 25/51
0.16006 (±0.00000)
Rank: 7/51
0.26010 (±0.00000)
Rank: 6/51
HEL 6576.5 564.70 95.20
Rank: 7/51
6638.91
Rank: 6/51
3.253
Rank: 20/51
13.37558
Rank: 20/51
0.28220 (±0.00000)
Rank: 13/51
0.43092 (±0.00000)
Rank: 11/51
MAD 7232.6 553.80 91.65
Rank: 7/51
5768.43
Rank: 4/51
3.190
Rank: 17/51
6.78422
Rank: 26/51
0.07707 (±0.00000)
Rank: 7/51
0.16774 (±0.00000)
Rank: 6/51
MTV 6974.9 563.94 92.72
Rank: 8/51
4861.32
Rank: 5/51
3.698
Rank: 12/51
14.57606
Rank: 16/51
0.23124 (±0.00000)
Rank: 9/51
0.35101 (±0.00000)
Rank: 9/51
NOR 7289.3 466.37 85.37
Rank: 9/51
3487.43
Rank: 4/51
3.198
Rank: 8/51
13.24900
Rank: 25/51
0.25853 (±0.00000)
Rank: 5/51
0.34050 (±0.00000)
Rank: 5/51
SF 6875.7 485.58 94.47
Rank: 7/51
4345.88
Rank: 4/51
3.333
Rank: 11/51
17.86395
Rank: 20/51
0.20839 (±0.00000)
Rank: 7/51
0.33737 (±0.00000)
Rank: 6/51
SG 7000.8 613.53 77.67
Rank: 7/51
3589.73
Rank: 2/51
3.127
Rank: 13/51
19.25866
Rank: 28/51
0.15519 (±0.00000)
Rank: 7/51
0.21783 (±0.00000)
Rank: 7/51
SYD 6925.9 461.39 85.91
Rank: 6/51
3180.62
Rank: 5/51
3.039
Rank: 19/51
17.16320
Rank: 25/51
0.20104 (±0.00000)
Rank: 7/51
0.29056 (±0.00000)
Rank: 7/51
TOK 6903.2 541.84 90.67
Rank: 4/51
6508.22
Rank: 1/51
3.332
Rank: 14/51
16.33098
Rank: 26/51
0.54580 (±0.00000)
Rank: 9/51
0.61304 (±0.00000)
Rank: 9/51
TOR 6982.3 656.95 94.00
Rank: 1/51
6243.08
Rank: 1/51
3.128
Rank: 14/51
18.93460
Rank: 27/51
0.17159 (±0.00000)
Rank: 7/51
0.29081 (±0.00000)
Rank: 6/51
ZRH 6854.4 581.52 87.01
Rank: 4/51
4846.28
Rank: 1/51
3.027
Rank: 16/51
17.93010
Rank: 16/51
0.14936 (±0.00000)
Rank: 2/51
0.23057 (±0.00000)
Rank: 3/51
Avg 6976.8 575.10 89.83
Rank: 6/51
4766.27
Rank: 3/51
3.381
Rank: 11/51
19.97016
Rank: 24/51
0.20544 (±0.00000)
Rank: 7/51
0.30230 (±0.00000)
Rank: 7/51