Submission ID: 8edd1437

LANet

Processed: 23-01-03. Download link: 8edd143780b90d6ee7c3-lanet-v0-1024-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-v0-1024
Descriptor: lanet-v0-1024 (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: 0.38821 (±0.00000 over 1 run(s) / ±0.12643 over 9 scenes)
Rank (per category): 70 (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	303.5	303.5	134.8	0.531 Rank: 21/87	0.898 Rank: 30/87	0.16577 (±0.00000) Rank: 60/87	0.26726 (±0.00000) Rank: 61/87
FCS	2048.0	277.1	277.1	121.5	0.390 Rank: 52/87	0.832 Rank: 66/87	0.45291 (±0.00000) Rank: 68/87	0.57313 (±0.00000) Rank: 70/87
LMS	2048.0	311.6	311.6	151.3	0.438 Rank: 30/87	0.661 Rank: 67/87	0.42378 (±0.00000) Rank: 69/87	0.53326 (±0.00000) Rank: 70/87
LB	2048.0	282.2	282.2	100.4	0.391 Rank: 51/87	0.674 Rank: 66/87	0.33275 (±0.00000) Rank: 60/87	0.42508 (±0.00000) Rank: 66/87
MC	2048.0	288.2	288.2	115.9	0.463 Rank: 24/87	0.880 Rank: 34/87	0.26860 (±0.00000) Rank: 60/87	0.40663 (±0.00000) Rank: 58/87
MR	2048.0	308.4	308.4	124.5	0.432 Rank: 25/87	0.823 Rank: 72/87	0.20322 (±0.00000) Rank: 64/87	0.29530 (±0.00000) Rank: 65/87
PSM	2048.0	202.5	202.5	67.1	0.348 Rank: 32/87	0.302 Rank: 81/87	0.07546 (±0.00000) Rank: 73/87	0.14473 (±0.00000) Rank: 73/87
SF	2048.0	328.4	328.4	133.1	0.395 Rank: 13/87	0.757 Rank: 66/87	0.33587 (±0.00000) Rank: 70/87	0.45408 (±0.00000) Rank: 71/87
SPC	2048.0	270.8	270.8	89.7	0.390 Rank: 32/87	0.716 Rank: 71/87	0.27788 (±0.00000) Rank: 73/87	0.39438 (±0.00000) Rank: 74/87
{{ 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	285.9	285.9	115.4	0.420 Rank: 29/87	0.727 Rank: 75/87	0.28180 (±0.00000) Rank: 68/87	0.38821 (±0.00000) Rank: 70/87

Phototourism dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.21398 over 9 scenes)
Rank (per category): 74 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
BM	2048.0	302.67	98.60 Rank: 76/87	1100.88 Rank: 65/87	4.419 Rank: 77/87	0.85707 Rank: 80/87	0.22181 (±0.00000) Rank: 79/87	0.33135 (±0.00000) Rank: 79/87
FCS	2048.0	282.10	95.69 Rank: 71/87	1539.79 Rank: 73/87	4.014 Rank: 77/87	0.31061 Rank: 72/87	0.62584 (±0.00000) Rank: 72/87	0.70190 (±0.00000) Rank: 73/87
LMS	2048.0	323.91	98.81 Rank: 61/87	1400.65 Rank: 61/87	4.976 Rank: 66/87	0.25980 Rank: 8/87	0.79526 (±0.00000) Rank: 61/87	0.86343 (±0.00000) Rank: 57/87
LB	2048.0	304.63	96.40 Rank: 69/87	1163.17 Rank: 63/87	4.475 Rank: 69/87	0.50838 Rank: 65/87	0.52759 (±0.00000) Rank: 68/87	0.63737 (±0.00000) Rank: 68/87
MC	2048.0	285.65	97.89 Rank: 70/87	1177.96 Rank: 70/87	4.303 Rank: 74/87	0.46750 Rank: 70/87	0.43500 (±0.00000) Rank: 70/87	0.57288 (±0.00000) Rank: 71/87
MR	2048.0	307.72	87.63 Rank: 77/87	1071.31 Rank: 72/87	4.336 Rank: 66/87	0.61529 Rank: 73/87	0.30415 (±0.00000) Rank: 72/87	0.40732 (±0.00000) Rank: 74/87
PSM	2048.0	199.71	74.36 Rank: 75/87	1346.18 Rank: 71/87	2.554 Rank: 79/87	0.95022 Rank: 81/87	0.07084 (±0.00000) Rank: 79/87	0.13242 (±0.00000) Rank: 78/87
SF	2048.0	327.43	94.42 Rank: 71/87	1563.42 Rank: 74/87	4.361 Rank: 75/87	0.33408 Rank: 64/87	0.66101 (±0.00000) Rank: 67/87	0.74139 (±0.00000) Rank: 69/87
SPC	2048.0	271.34	92.41 Rank: 76/87	1190.94 Rank: 72/87	4.205 Rank: 72/87	0.84748 Rank: 81/87	0.51063 (±0.00000) Rank: 74/87	0.61088 (±0.00000) Rank: 74/87
{{ 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: 76/87	{{ num_landmarks_20 }} Rank: 72/87	{{ track_length_20 }} Rank: 72/87	{{ ate_20 }} Rank: 81/87	{{ map5_20 }} (±0.00000) Rank: 74/87	{{ map10_20 }} (±0.00000) Rank: 74/87
Avg	2048.0	289.46	92.91 Rank: 73/87	1283.81 Rank: 72/87	4.183 Rank: 75/87	0.57227 Rank: 77/87	0.46135 (±0.00000) Rank: 72/87	0.55544 (±0.00000) Rank: 74/87

Prague Parks dataset / Stereo track

mAA at 10 degrees: 0.51700 (±0.00000 over 1 run(s) / ±0.03778 over 3 scenes)
Rank (per category): 55 (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	338.2	338.2	134.0	0.024 Rank: 72/87	0.007 Rank: 64/87	0.35062 (±0.00000) Rank: 55/87	0.46366 (±0.00000) Rank: 56/87
Pond	2048.0	360.8	360.8	163.1	0.053 Rank: 25/87	0.052 Rank: 19/87	0.42445 (±0.00000) Rank: 53/87	0.54629 (±0.00000) Rank: 54/87
Tree	2048.0	308.4	308.4	107.1	0.029 Rank: 52/87	0.020 Rank: 56/87	0.44415 (±0.00000) Rank: 57/87	0.54106 (±0.00000) Rank: 57/87
LB	2048.0	282.2	282.2	100.4	0.391 Rank: 51/87	0.674 Rank: 66/87	0.33275 (±0.00000) Rank: 55/87	0.42508 (±0.00000) Rank: 66/87
MC	2048.0	288.2	288.2	115.9	0.463 Rank: 24/87	0.880 Rank: 34/87	0.26860 (±0.00000) Rank: 55/87	0.40663 (±0.00000) Rank: 58/87
MR	2048.0	308.4	308.4	124.5	0.432 Rank: 25/87	0.823 Rank: 72/87	0.20322 (±0.00000) Rank: 64/87	0.29530 (±0.00000) Rank: 65/87
PSM	2048.0	202.5	202.5	67.1	0.348 Rank: 32/87	0.302 Rank: 81/87	0.07546 (±0.00000) Rank: 73/87	0.14473 (±0.00000) Rank: 73/87
SF	2048.0	328.4	328.4	133.1	0.395 Rank: 13/87	0.757 Rank: 66/87	0.33587 (±0.00000) Rank: 70/87	0.45408 (±0.00000) Rank: 71/87
SPC	2048.0	270.8	270.8	89.7	0.390 Rank: 32/87	0.716 Rank: 71/87	0.27788 (±0.00000) Rank: 73/87	0.39438 (±0.00000) Rank: 74/87
{{ 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	335.8	335.8	134.7	0.035 Rank: 56/87	0.026 Rank: 56/87	0.40641 (±0.00000) Rank: 55/87	0.51700 (±0.00000) Rank: 55/87

Prague Parks dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13162 over 3 scenes)
Rank (per category): 48 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
Lizard	2048.0	362.43	84.23 Rank: 49/87	631.52 Rank: 60/87	3.423 Rank: 15/87	13.70625 Rank: 13/87	0.54964 (±0.00000) Rank: 50/87	0.63138 (±0.00000) Rank: 52/87
Pond	2048.0	427.03	71.27 Rank: 7/87	796.97 Rank: 53/87	3.081 Rank: 11/87	0.42420 Rank: 29/87	0.28824 (±0.00000) Rank: 27/87	0.31101 (±0.00000) Rank: 39/87
Tree	2048.0	332.60	69.69 Rank: 56/87	486.10 Rank: 40/87	2.984 Rank: 33/87	5.66247 Rank: 6/87	0.40253 (±0.00000) Rank: 49/87	0.43979 (±0.00000) Rank: 50/87
LB	2048.0	304.63	96.40 Rank: 69/87	1163.17 Rank: 63/87	4.475 Rank: 69/87	0.50838 Rank: 65/87	0.52759 (±0.00000) Rank: 68/87	0.63737 (±0.00000) Rank: 68/87
MC	2048.0	285.65	97.89 Rank: 70/87	1177.96 Rank: 70/87	4.303 Rank: 74/87	0.46750 Rank: 70/87	0.43500 (±0.00000) Rank: 70/87	0.57288 (±0.00000) Rank: 71/87
MR	2048.0	307.72	87.63 Rank: 77/87	1071.31 Rank: 72/87	4.336 Rank: 66/87	0.61529 Rank: 73/87	0.30415 (±0.00000) Rank: 72/87	0.40732 (±0.00000) Rank: 74/87
PSM	2048.0	199.71	74.36 Rank: 75/87	1346.18 Rank: 71/87	2.554 Rank: 79/87	0.95022 Rank: 81/87	0.07084 (±0.00000) Rank: 79/87	0.13242 (±0.00000) Rank: 78/87
SF	2048.0	327.43	94.42 Rank: 71/87	1563.42 Rank: 74/87	4.361 Rank: 75/87	0.33408 Rank: 64/87	0.66101 (±0.00000) Rank: 67/87	0.74139 (±0.00000) Rank: 69/87
SPC	2048.0	271.34	92.41 Rank: 76/87	1190.94 Rank: 72/87	4.205 Rank: 72/87	0.84748 Rank: 81/87	0.51063 (±0.00000) Rank: 74/87	0.61088 (±0.00000) Rank: 74/87
{{ 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: 76/87	{{ num_landmarks_20 }} Rank: 72/87	{{ track_length_20 }} Rank: 72/87	{{ ate_20 }} Rank: 81/87	{{ map5_20 }} (±0.00000) Rank: 74/87	{{ map10_20 }} (±0.00000) Rank: 74/87
Avg	2048.0	374.02	75.06 Rank: 25/87	638.20 Rank: 55/87	3.163 Rank: 13/87	6.59764 Rank: 11/87	0.41347 (±0.00000) Rank: 47/87	0.46073 (±0.00000) Rank: 48/87