Submission ID: def471dd

DeepFEPE SuperPoint

Processed: 23-01-03. Download link: def471ddb9233325de8c-superpoint-indep-kitty-1024-subpix-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: superpoint-indep-kitty-1024-subpix
Descriptor: superpoint-indep-kitty-1024-subpix (256 float32: 1024 bytes)
Number of features: 2048
Summary: Baseline, DeepFEPE SuperPoint 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://arxiv.org/abs/2007.15122
Website: https://github.com/eric-yyjau/pytorch-superpoint
Processing date: 23-01-03

Phototourism dataset / Stereo track

mAA at 10 degrees: 0.13209 (±0.00000 over 1 run(s) / ±0.05591 over 9 scenes)
Rank (per category): 85 (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	97.7	97.7	47.4	0.453 Rank: 52/87	0.604 Rank: 84/87	0.02872 (±0.00000) Rank: 85/87	0.06083 (±0.00000) Rank: 85/87
FCS	2048.0	119.4	119.4	56.0	0.420 Rank: 9/87	0.502 Rank: 85/87	0.15567 (±0.00000) Rank: 85/87	0.23573 (±0.00000) Rank: 85/87
LMS	2031.2	74.6	74.6	32.7	0.476 Rank: 10/87	0.327 Rank: 85/87	0.09067 (±0.00000) Rank: 85/87	0.14192 (±0.00000) Rank: 85/87
LB	2048.0	107.1	107.1	50.7	0.378 Rank: 54/87	0.471 Rank: 85/87	0.12206 (±0.00000) Rank: 85/87	0.18427 (±0.00000) Rank: 84/87
MC	2048.0	117.1	117.1	49.3	0.394 Rank: 65/87	0.531 Rank: 85/87	0.06280 (±0.00000) Rank: 85/87	0.11455 (±0.00000) Rank: 85/87
MR	2048.0	118.2	118.2	50.9	0.393 Rank: 58/87	0.480 Rank: 85/87	0.04473 (±0.00000) Rank: 85/87	0.07866 (±0.00000) Rank: 85/87
PSM	2048.0	65.3	65.3	26.3	0.355 Rank: 31/87	0.172 Rank: 85/87	0.03021 (±0.00000) Rank: 85/87	0.07511 (±0.00000) Rank: 85/87
SF	2048.0	146.4	146.4	59.0	0.326 Rank: 80/87	0.473 Rank: 85/87	0.11693 (±0.00000) Rank: 85/87	0.18438 (±0.00000) Rank: 85/87
SPC	2048.0	95.6	95.6	37.4	0.390 Rank: 31/87	0.401 Rank: 85/87	0.06243 (±0.00000) Rank: 85/87	0.11338 (±0.00000) Rank: 85/87
{{ 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	2046.1	104.6	104.6	45.5	0.398 Rank: 52/87	0.440 Rank: 85/87	0.07936 (±0.00000) Rank: 85/87	0.13209 (±0.00000) Rank: 85/87

Phototourism dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15811 over 9 scenes)
Rank (per category): 82 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
BM	2048.0	97.56	92.79 Rank: 82/87	723.05 Rank: 79/87	3.832 Rank: 81/87	1.14741 Rank: 82/87	0.03992 (±0.00000) Rank: 82/87	0.09291 (±0.00000) Rank: 82/87
FCS	2048.0	122.40	82.84 Rank: 82/87	1110.80 Rank: 79/87	3.448 Rank: 82/87	0.46630 Rank: 81/87	0.31068 (±0.00000) Rank: 82/87	0.37802 (±0.00000) Rank: 82/87
LMS	2031.2	81.28	78.69 Rank: 82/87	922.92 Rank: 78/87	3.318 Rank: 82/87	0.57438 Rank: 81/87	0.33647 (±0.00000) Rank: 81/87	0.40705 (±0.00000) Rank: 81/87
LB	2048.0	131.20	92.64 Rank: 78/87	996.33 Rank: 74/87	4.086 Rank: 80/87	0.64022 Rank: 82/87	0.33066 (±0.00000) Rank: 82/87	0.45392 (±0.00000) Rank: 81/87
MC	2048.0	114.38	86.49 Rank: 82/87	934.96 Rank: 78/87	3.559 Rank: 82/87	0.74961 Rank: 81/87	0.20133 (±0.00000) Rank: 82/87	0.30233 (±0.00000) Rank: 82/87
MR	2048.0	117.29	68.91 Rank: 81/87	627.42 Rank: 81/87	3.276 Rank: 81/87	0.89523 Rank: 81/87	0.09432 (±0.00000) Rank: 81/87	0.14420 (±0.00000) Rank: 81/87
PSM	2048.0	62.03	48.94 Rank: 82/87	319.99 Rank: 82/87	2.377 Rank: 81/87	1.22350 Rank: 82/87	0.00422 (±0.00000) Rank: 82/87	0.01106 (±0.00000) Rank: 82/87
SF	2048.0	145.18	84.77 Rank: 82/87	1338.50 Rank: 78/87	3.479 Rank: 81/87	0.55119 Rank: 82/87	0.40515 (±0.00000) Rank: 81/87	0.48077 (±0.00000) Rank: 81/87
SPC	2048.0	95.40	81.87 Rank: 82/87	983.50 Rank: 79/87	3.314 Rank: 82/87	0.89319 Rank: 82/87	0.24904 (±0.00000) Rank: 82/87	0.33709 (±0.00000) Rank: 82/87
{{ 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: 82/87	{{ num_landmarks_20 }} Rank: 79/87	{{ track_length_20 }} Rank: 82/87	{{ ate_20 }} Rank: 82/87	{{ map5_20 }} (±0.00000) Rank: 82/87	{{ map10_20 }} (±0.00000) Rank: 82/87
Avg	2046.1	107.41	79.77 Rank: 82/87	884.16 Rank: 79/87	3.410 Rank: 82/87	0.79345 Rank: 82/87	0.21909 (±0.00000) Rank: 82/87	0.28971 (±0.00000) Rank: 82/87

Prague Parks dataset / Stereo track

mAA at 10 degrees: 0.27497 (±0.00000 over 1 run(s) / ±0.03598 over 3 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)
Lizard	2045.7	370.8	370.8	81.1	0.031 Rank: 50/87	0.009 Rank: 46/87	0.17087 (±0.00000) Rank: 71/87	0.25964 (±0.00000) Rank: 69/87
Pond	2048.0	470.3	470.3	119.6	0.048 Rank: 57/87	0.043 Rank: 70/87	0.21082 (±0.00000) Rank: 69/87	0.32465 (±0.00000) Rank: 69/87
Tree	2048.0	369.9	369.9	54.9	0.031 Rank: 26/87	0.019 Rank: 60/87	0.16689 (±0.00000) Rank: 71/87	0.24062 (±0.00000) Rank: 71/87
LB	2048.0	107.1	107.1	50.7	0.378 Rank: 54/87	0.471 Rank: 85/87	0.12206 (±0.00000) Rank: 71/87	0.18427 (±0.00000) Rank: 84/87
MC	2048.0	117.1	117.1	49.3	0.394 Rank: 65/87	0.531 Rank: 85/87	0.06280 (±0.00000) Rank: 71/87	0.11455 (±0.00000) Rank: 85/87
MR	2048.0	118.2	118.2	50.9	0.393 Rank: 58/87	0.480 Rank: 85/87	0.04473 (±0.00000) Rank: 85/87	0.07866 (±0.00000) Rank: 85/87
PSM	2048.0	65.3	65.3	26.3	0.355 Rank: 31/87	0.172 Rank: 85/87	0.03021 (±0.00000) Rank: 85/87	0.07511 (±0.00000) Rank: 85/87
SF	2048.0	146.4	146.4	59.0	0.326 Rank: 80/87	0.473 Rank: 85/87	0.11693 (±0.00000) Rank: 85/87	0.18438 (±0.00000) Rank: 85/87
SPC	2048.0	95.6	95.6	37.4	0.390 Rank: 31/87	0.401 Rank: 85/87	0.06243 (±0.00000) Rank: 85/87	0.11338 (±0.00000) Rank: 85/87
{{ 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	2047.2	403.7	403.7	85.2	0.037 Rank: 49/87	0.024 Rank: 71/87	0.18286 (±0.00000) Rank: 71/87	0.27497 (±0.00000) Rank: 69/87

Prague Parks dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08007 over 3 scenes)
Rank (per category): 64 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
Lizard	2045.7	400.54	78.69 Rank: 66/87	652.67 Rank: 56/87	2.938 Rank: 69/87	12.73855 Rank: 4/87	0.39549 (±0.00000) Rank: 66/87	0.48622 (±0.00000) Rank: 66/87
Pond	2048.0	494.66	69.10 Rank: 21/87	677.46 Rank: 63/87	2.855 Rank: 44/87	0.40451 Rank: 7/87	0.24473 (±0.00000) Rank: 55/87	0.29754 (±0.00000) Rank: 47/87
Tree	2048.0	373.81	66.75 Rank: 66/87	350.90 Rank: 63/87	2.643 Rank: 69/87	5.71459 Rank: 10/87	0.28991 (±0.00000) Rank: 65/87	0.34553 (±0.00000) Rank: 64/87
LB	2048.0	131.20	92.64 Rank: 78/87	996.33 Rank: 74/87	4.086 Rank: 80/87	0.64022 Rank: 82/87	0.33066 (±0.00000) Rank: 82/87	0.45392 (±0.00000) Rank: 81/87
MC	2048.0	114.38	86.49 Rank: 82/87	934.96 Rank: 78/87	3.559 Rank: 82/87	0.74961 Rank: 81/87	0.20133 (±0.00000) Rank: 82/87	0.30233 (±0.00000) Rank: 82/87
MR	2048.0	117.29	68.91 Rank: 81/87	627.42 Rank: 81/87	3.276 Rank: 81/87	0.89523 Rank: 81/87	0.09432 (±0.00000) Rank: 81/87	0.14420 (±0.00000) Rank: 81/87
PSM	2048.0	62.03	48.94 Rank: 82/87	319.99 Rank: 82/87	2.377 Rank: 81/87	1.22350 Rank: 82/87	0.00422 (±0.00000) Rank: 82/87	0.01106 (±0.00000) Rank: 82/87
SF	2048.0	145.18	84.77 Rank: 82/87	1338.50 Rank: 78/87	3.479 Rank: 81/87	0.55119 Rank: 82/87	0.40515 (±0.00000) Rank: 81/87	0.48077 (±0.00000) Rank: 81/87
SPC	2048.0	95.40	81.87 Rank: 82/87	983.50 Rank: 79/87	3.314 Rank: 82/87	0.89319 Rank: 82/87	0.24904 (±0.00000) Rank: 82/87	0.33709 (±0.00000) Rank: 82/87
{{ 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: 82/87	{{ num_landmarks_20 }} Rank: 79/87	{{ track_length_20 }} Rank: 82/87	{{ ate_20 }} Rank: 82/87	{{ map5_20 }} (±0.00000) Rank: 82/87	{{ map10_20 }} (±0.00000) Rank: 82/87
Avg	2047.2	423.01	71.51 Rank: 66/87	560.34 Rank: 62/87	2.812 Rank: 69/87	6.28588 Rank: 5/87	0.31004 (±0.00000) Rank: 67/87	0.37643 (±0.00000) Rank: 64/87