Submission ID: 3b4a64d1

LoFTR

Processed: 21-06-09. Download link: 3b4a64d1abed8c5b-loftr_v1.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: 0.62374 (±0.00000 over 1 run(s) / ±0.13379 over 9 scenes)
Rank (per category): 2 (of 46)

Scene Features Matches
(raw)
Matches
(final)
Rep. @ 3 px. MS @ 3 px. mAA(5o) mAA(10o)
BM 7370.6 186.6 0.536
Rank: 27/46
0.949
Rank: 8/46
0.48975 (±0.00000)
Rank: 4/46
0.64144 (±0.00000)
Rank: 1/46
FCS 7538.6 181.6 0.429
Rank: 37/46
0.930
Rank: 4/46
0.67072 (±0.00000)
Rank: 5/46
0.78723 (±0.00000)
Rank: 4/46
LMS 6668.1 125.2 0.350
Rank: 40/46
0.721
Rank: 2/46
0.59090 (±0.00000)
Rank: 9/46
0.70327 (±0.00000)
Rank: 11/46
LB 7174.1 217.0 0.675
Rank: 3/46
0.726
Rank: 21/46
0.55023 (±0.00000)
Rank: 4/46
0.64256 (±0.00000)
Rank: 3/46
MC 7467.5 232.8 0.621
Rank: 22/46
0.925
Rank: 17/46
0.46045 (±0.00000)
Rank: 4/46
0.60854 (±0.00000)
Rank: 3/46
MR 7183.4 178.6 0.486
Rank: 34/46
0.955
Rank: 10/46
0.33634 (±0.00000)
Rank: 8/46
0.45746 (±0.00000)
Rank: 5/46
PSM 7412.8 127.0 0.421
Rank: 24/46
0.644
Rank: 24/46
0.21686 (±0.00000)
Rank: 7/46
0.34207 (±0.00000)
Rank: 7/46
SF 6870.0 133.0 0.383
Rank: 45/46
0.863
Rank: 7/46
0.54721 (±0.00000)
Rank: 10/46
0.67489 (±0.00000)
Rank: 10/46
SPC 7449.0 194.8 0.531
Rank: 22/46
0.867
Rank: 9/46
0.61812 (±0.00000)
Rank: 1/46
0.75618 (±0.00000)
Rank: 1/46
Avg 7237.1 175.2 0.492
Rank: 26/46
0.842
Rank: 14/46
0.49784 (±0.00000)
Rank: 2/46
0.62374 (±0.00000)
Rank: 2/46




Phototourism dataset / Multiview track


mAA at 10 degrees: 0.60761 (±0.00000 over 1 run(s) / ±0.17780 over 9 scenes)
Rank (per category): 40 (of 46)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
BM 7370.6 185.74 99.68
Rank: 29/46
3515.66
Rank: 23/46
3.399
Rank: 39/46
0.36191
Rank: 5/46
0.51917 (±0.00000)
Rank: 15/46
0.63580 (±0.00000)
Rank: 20/46
FCS 7538.6 180.05 95.09
Rank: 37/46
3314.64
Rank: 37/46
3.332
Rank: 44/46
0.29214
Rank: 33/46
0.59818 (±0.00000)
Rank: 39/46
0.64056 (±0.00000)
Rank: 40/46
LMS 6668.1 129.12 96.21
Rank: 40/46
1260.17
Rank: 37/46
4.256
Rank: 34/46
0.35562
Rank: 35/46
0.73036 (±0.00000)
Rank: 35/46
0.79327 (±0.00000)
Rank: 37/46
LB 7174.1 241.16 97.00
Rank: 33/46
4030.36
Rank: 16/46
3.713
Rank: 40/46
0.50979
Rank: 34/46
0.68938 (±0.00000)
Rank: 26/46
0.77682 (±0.00000)
Rank: 28/46
MC 7467.5 227.08 99.12
Rank: 35/46
4536.95
Rank: 25/46
3.488
Rank: 40/46
0.31328
Rank: 2/46
0.56045 (±0.00000)
Rank: 11/46
0.69311 (±0.00000)
Rank: 14/46
MR 7183.4 171.28 79.22
Rank: 40/46
2527.13
Rank: 43/46
2.964
Rank: 45/46
0.61499
Rank: 45/46
0.27706 (±0.00000)
Rank: 40/46
0.34492 (±0.00000)
Rank: 40/46
PSM 7412.8 121.83 81.27
Rank: 36/46
2197.52
Rank: 40/46
2.653
Rank: 41/46
0.90063
Rank: 44/46
0.21268 (±0.00000)
Rank: 39/46
0.24067 (±0.00000)
Rank: 39/46
SF 6870.0 131.22 94.91
Rank: 35/46
2349.01
Rank: 43/46
3.374
Rank: 45/46
0.36712
Rank: 39/46
0.59428 (±0.00000)
Rank: 39/46
0.65803 (±0.00000)
Rank: 40/46
SPC 7449.0 194.54 98.18
Rank: 32/46
3922.66
Rank: 27/46
3.316
Rank: 40/46
0.56250
Rank: 35/46
0.61938 (±0.00000)
Rank: 34/46
0.68533 (±0.00000)
Rank: 36/46
Avg 7237.1 175.78 93.41
Rank: 40/46
3072.68
Rank: 33/46
3.388
Rank: 40/46
0.47533
Rank: 37/46
0.53344 (±0.00000)
Rank: 36/46
0.60761 (±0.00000)
Rank: 40/46



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): 5 (of 46)

Scene Features Matches
(raw)
Matches
(final)
Rep. @ 3 px. MS @ 3 px. mAA(5o) mAA(10o)
Lizard 7573.2 286.3 0.087
Rank: 24/46
0.012
Rank: 6/46
0.59085 (±0.00000)
Rank: 4/46
0.71096 (±0.00000)
Rank: 4/46
Pond 7866.3 405.4 0.108
Rank: 29/46
0.044
Rank: 33/46
0.56954 (±0.00000)
Rank: 7/46
0.68998 (±0.00000)
Rank: 8/46
Tree 7712.7 606.7 0.133
Rank: 12/46
0.020
Rank: 12/46
0.79426 (±0.00000)
Rank: 3/46
0.86313 (±0.00000)
Rank: 4/46
Avg 7717.4 432.8 0.109
Rank: 23/46
0.025
Rank: 30/46
0.65155 (±0.00000)
Rank: 5/46
0.75469 (±0.00000)
Rank: 5/46




Prague Parks dataset / Multiview track


mAA at 10 degrees: 0.47032 (±0.00000 over 1 run(s) / ±0.10628 over 3 scenes)
Rank (per category): 16 (of 46)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
Lizard 7573.2 243.19 82.00
Rank: 25/46
748.53
Rank: 29/46
2.759
Rank: 29/46
14.12107
Rank: 22/46
0.50624 (±0.00000)
Rank: 19/46
0.59414 (±0.00000)
Rank: 22/46
Pond 7866.3 346.23 71.10
Rank: 9/46
697.95
Rank: 29/46
2.476
Rank: 30/46
0.43971
Rank: 27/46
0.31278 (±0.00000)
Rank: 3/46
0.33463 (±0.00000)
Rank: 6/46
Tree 7712.7 375.32 69.54
Rank: 29/46
1012.76
Rank: 20/46
2.531
Rank: 32/46
6.01827
Rank: 21/46
0.45182 (±0.00000)
Rank: 13/46
0.48218 (±0.00000)
Rank: 13/46
Avg 7717.4 321.58 74.21
Rank: 25/46
819.75
Rank: 28/46
2.589
Rank: 30/46
6.85968
Rank: 19/46
0.42361 (±0.00000)
Rank: 14/46
0.47032 (±0.00000)
Rank: 16/46



Google Urban dataset / Stereo track


mAA at 10 degrees: 0.40669 (±0.00000 over 1 run(s) / ±0.11007 over 17 scenes)
Rank (per category): 4 (of 46)

Scene Features Matches
(raw)
Matches
(final)
mAA(5o) mAA(10o)
Amsterdam (AMS) 6889.5 1301.7 0.28571 (±0.00000)
Rank: 4/46
0.42277 (±0.00000)
Rank: 5/46
Bangkok (BGK) 7398.9 1249.8 0.09181 (±0.00000)
Rank: 1/46
0.23449 (±0.00000)
Rank: 1/46
Barcelona (BCN) 6647.2 887.0 0.13333 (±0.00000)
Rank: 11/46
0.21978 (±0.00000)
Rank: 11/46
Buenos Aires (BAR) 6929.5 923.2 0.29315 (±0.00000)
Rank: 4/46
0.43744 (±0.00000)
Rank: 1/46
Cambridge (CAM) 6556.5 929.3 0.29726 (±0.00000)
Rank: 4/46
0.42637 (±0.00000)
Rank: 9/46
Cannes (CAN) 7021.6 1335.7 0.40829 (±0.00000)
Rank: 10/46
0.49447 (±0.00000)
Rank: 14/46
Chicago (CHI) 6882.0 839.0 0.25437 (±0.00000)
Rank: 5/46
0.38668 (±0.00000)
Rank: 5/46
Helsinki (HEL) 6538.4 960.5 0.38402 (±0.00000)
Rank: 4/46
0.58582 (±0.00000)
Rank: 4/46
Madrid (MAD) 6848.4 952.9 0.11915 (±0.00000)
Rank: 2/46
0.25289 (±0.00000)
Rank: 6/46
Mountain View (MTV) 6750.9 840.7 0.26523 (±0.00000)
Rank: 3/46
0.40762 (±0.00000)
Rank: 7/46
New Orleans (NOR) 7289.3 770.6 0.31302 (±0.00000)
Rank: 2/46
0.40355 (±0.00000)
Rank: 4/46
San Francisco (SF) 6875.7 809.8 0.22677 (±0.00000)
Rank: 3/46
0.35486 (±0.00000)
Rank: 2/46
Singapore (SG) 7000.8 1052.5 0.31139 (±0.00000)
Rank: 4/46
0.41930 (±0.00000)
Rank: 6/46
Sydney (SYD) 7031.9 857.8 0.32751 (±0.00000)
Rank: 10/46
0.49520 (±0.00000)
Rank: 8/46
Tokyo (TOK) 6903.2 816.5 0.50196 (±0.00000)
Rank: 9/46
0.64975 (±0.00000)
Rank: 7/46
Toronto (TOR) 6982.3 1046.6 0.22560 (±0.00000)
Rank: 6/46
0.39360 (±0.00000)
Rank: 6/46
Zurich (ZRH) 6854.4 953.4 0.25155 (±0.00000)
Rank: 11/46
0.32921 (±0.00000)
Rank: 8/46
Average (Avg) 6905.9 972.2 0.27589 (±0.00000)
Rank: 2/46
0.40669 (±0.00000)
Rank: 4/46




Google Urban dataset / Multiview track


mAA at 10 degrees: 0.30340 (±0.00000 over 1 run(s) / ±0.12586 over 17 scenes)
Rank (per category): 6 (of 46)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
AMS 6889.5 803.98 93.87
Rank: 2/46
7073.19
Rank: 1/46
3.649
Rank: 8/46
27.89378
Rank: 27/46
0.38779 (±0.00000)
Rank: 2/46
0.51399 (±0.00000)
Rank: 1/46
BGK 7398.9 879.42 97.33
Rank: 5/46
8576.35
Rank: 1/46
3.614
Rank: 11/46
14.51017
Rank: 23/46
0.03520 (±0.00000)
Rank: 2/46
0.10233 (±0.00000)
Rank: 3/46
BCN 6647.2 525.92 86.58
Rank: 7/46
3620.85
Rank: 2/46
3.338
Rank: 15/46
26.53465
Rank: 15/46
0.14382 (±0.00000)
Rank: 10/46
0.23170 (±0.00000)
Rank: 8/46
BAR 6929.5 516.23 89.93
Rank: 2/46
4383.49
Rank: 3/46
3.280
Rank: 4/46
17.46704
Rank: 26/46
0.20659 (±0.00000)
Rank: 1/46
0.31156 (±0.00000)
Rank: 1/46
CAM 6556.5 550.34 88.37
Rank: 6/46
4421.82
Rank: 2/46
3.284
Rank: 7/46
25.15286
Rank: 19/46
0.17346 (±0.00000)
Rank: 8/46
0.27021 (±0.00000)
Rank: 7/46
CAN 7021.6 664.35 84.88
Rank: 2/46
3445.58
Rank: 3/46
3.405
Rank: 6/46
23.81874
Rank: 25/46
0.10513 (±0.00000)
Rank: 4/46
0.16424 (±0.00000)
Rank: 6/46
CHI 6882.0 746.59 92.59
Rank: 6/46
1884.85
Rank: 6/46
4.836
Rank: 13/46
47.42038
Rank: 21/46
0.19893 (±0.00000)
Rank: 2/46
0.29401 (±0.00000)
Rank: 2/46
HEL 6538.4 639.98 96.67
Rank: 1/46
7273.13
Rank: 1/46
3.278
Rank: 15/46
14.84385
Rank: 28/46
0.27878 (±0.00000)
Rank: 15/46
0.42771 (±0.00000)
Rank: 12/46
MAD 6848.4 587.56 90.85
Rank: 8/46
5903.40
Rank: 3/46
3.222
Rank: 10/46
6.11130
Rank: 22/46
0.08167 (±0.00000)
Rank: 4/46
0.17154 (±0.00000)
Rank: 5/46
MTV 6750.9 587.34 93.06
Rank: 5/46
5133.36
Rank: 2/46
3.719
Rank: 7/46
15.80538
Rank: 21/46
0.23506 (±0.00000)
Rank: 8/46
0.36230 (±0.00000)
Rank: 8/46
NOR 7289.3 481.57 86.03
Rank: 7/46
3210.92
Rank: 5/46
3.185
Rank: 9/46
12.58509
Rank: 21/46
0.20351 (±0.00000)
Rank: 9/46
0.28477 (±0.00000)
Rank: 9/46
SF 6875.7 494.45 94.40
Rank: 8/46
4526.55
Rank: 1/46
3.351
Rank: 8/46
18.82780
Rank: 24/46
0.20855 (±0.00000)
Rank: 6/46
0.33179 (±0.00000)
Rank: 8/46
SG 7000.8 628.16 79.46
Rank: 4/46
3497.16
Rank: 4/46
3.140
Rank: 11/46
15.50935
Rank: 17/46
0.13214 (±0.00000)
Rank: 11/46
0.19793 (±0.00000)
Rank: 9/46
SYD 7031.9 517.81 86.71
Rank: 4/46
3697.31
Rank: 2/46
3.085
Rank: 14/46
11.30603
Rank: 8/46
0.22456 (±0.00000)
Rank: 5/46
0.31894 (±0.00000)
Rank: 5/46
TOK 6903.2 541.84 89.07
Rank: 10/46
6392.18
Rank: 2/46
3.374
Rank: 12/46
16.18739
Rank: 25/46
0.56242 (±0.00000)
Rank: 4/46
0.63167 (±0.00000)
Rank: 5/46
TOR 6982.3 644.12 92.93
Rank: 3/46
6027.99
Rank: 4/46
3.112
Rank: 15/46
17.64254
Rank: 24/46
0.16104 (±0.00000)
Rank: 9/46
0.28037 (±0.00000)
Rank: 9/46
ZRH 6854.4 581.52 86.89
Rank: 5/46
4766.73
Rank: 2/46
3.030
Rank: 15/46
21.89605
Rank: 28/46
0.17183 (±0.00000)
Rank: 1/46
0.26281 (±0.00000)
Rank: 1/46
Avg 6905.9 611.25 89.98
Rank: 4/46
4931.46
Rank: 1/46
3.406
Rank: 9/46
19.61838
Rank: 22/46
0.20650 (±0.00000)
Rank: 6/46
0.30340 (±0.00000)
Rank: 6/46