Submission ID: e75d9e27

LoFTR

Processed: 21-06-12. Download link: e75d9e2710d09fd6-loftr_v2.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: 0.61249 (±0.00000 over 1 run(s) / ±0.13955 over 9 scenes)
Rank (per category): 8 (of 51)

Scene Features Matches
(raw)
Matches
(final)
Rep. @ 3 px. MS @ 3 px. mAA(5o) mAA(10o)
BM 7339.0 196.7 0.532
Rank: 31/51
0.946
Rank: 10/51
0.49085 (±0.00000)
Rank: 1/51
0.63850 (±0.00000)
Rank: 3/51
FCS 7544.5 194.2 0.427
Rank: 43/51
0.925
Rank: 8/51
0.66157 (±0.00000)
Rank: 10/51
0.77848 (±0.00000)
Rank: 10/51
LMS 6690.9 132.4 0.348
Rank: 47/51
0.718
Rank: 5/51
0.58680 (±0.00000)
Rank: 12/51
0.70170 (±0.00000)
Rank: 16/51
LB 7210.4 226.1 0.672
Rank: 5/51
0.719
Rank: 28/51
0.53363 (±0.00000)
Rank: 1/51
0.62699 (±0.00000)
Rank: 11/51
MC 7435.4 238.8 0.616
Rank: 26/51
0.921
Rank: 21/51
0.43438 (±0.00000)
Rank: 1/51
0.58606 (±0.00000)
Rank: 7/51
MR 7202.1 190.5 0.486
Rank: 31/51
0.952
Rank: 15/51
0.32424 (±0.00000)
Rank: 19/51
0.43871 (±0.00000)
Rank: 18/51
PSM 7401.1 133.7 0.417
Rank: 30/51
0.634
Rank: 33/51
0.20135 (±0.00000)
Rank: 14/51
0.32020 (±0.00000)
Rank: 16/51
SF 6892.1 144.3 0.385
Rank: 44/51
0.859
Rank: 11/51
0.54363 (±0.00000)
Rank: 16/51
0.67107 (±0.00000)
Rank: 16/51
SPC 7444.9 208.3 0.529
Rank: 26/51
0.861
Rank: 13/51
0.61066 (±0.00000)
Rank: 5/51
0.75075 (±0.00000)
Rank: 5/51
Avg 7240.0 185.0 0.490
Rank: 30/51
0.837
Rank: 18/51
0.48746 (±0.00000)
Rank: 6/51
0.61249 (±0.00000)
Rank: 8/51




Phototourism dataset / Multiview track


mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.16525 over 9 scenes)
Rank (per category): 41 (of 51)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
BM 7339.0 195.39 99.82
Rank: 21/51
3695.67
Rank: 23/51
3.423
Rank: 41/51
0.38333
Rank: 13/51
0.53437 (±0.00000)
Rank: 15/51
0.65916 (±0.00000)
Rank: 19/51
FCS 7544.5 192.43 94.93
Rank: 44/51
3461.10
Rank: 38/51
3.367
Rank: 48/51
0.33581
Rank: 45/51
0.59752 (±0.00000)
Rank: 45/51
0.64510 (±0.00000)
Rank: 44/51
LMS 6690.9 136.88 97.22
Rank: 39/51
1383.17
Rank: 38/51
4.264
Rank: 37/51
0.41270
Rank: 45/51
0.73262 (±0.00000)
Rank: 39/51
0.79356 (±0.00000)
Rank: 41/51
LB 7210.4 252.46 97.20
Rank: 36/51
4188.27
Rank: 19/51
3.738
Rank: 42/51
0.50834
Rank: 37/51
0.68693 (±0.00000)
Rank: 30/51
0.77855 (±0.00000)
Rank: 31/51
MC 7435.4 233.71 99.26
Rank: 39/51
4623.90
Rank: 26/51
3.524
Rank: 42/51
0.33745
Rank: 15/51
0.55173 (±0.00000)
Rank: 20/51
0.68711 (±0.00000)
Rank: 24/51
MR 7202.1 182.19 86.99
Rank: 41/51
3195.08
Rank: 42/51
3.053
Rank: 48/51
0.52950
Rank: 35/51
0.34102 (±0.00000)
Rank: 41/51
0.42698 (±0.00000)
Rank: 41/51
PSM 7401.1 128.45 79.39
Rank: 43/51
2324.57
Rank: 42/51
2.619
Rank: 48/51
0.79917
Rank: 47/51
0.22604 (±0.00000)
Rank: 42/51
0.25660 (±0.00000)
Rank: 41/51
SF 6892.1 142.49 96.53
Rank: 32/51
2561.30
Rank: 44/51
3.420
Rank: 46/51
0.33096
Rank: 35/51
0.62058 (±0.00000)
Rank: 38/51
0.68839 (±0.00000)
Rank: 39/51
SPC 7444.9 208.52 98.75
Rank: 32/51
4162.40
Rank: 29/51
3.373
Rank: 42/51
0.48215
Rank: 23/51
0.64895 (±0.00000)
Rank: 33/51
0.72265 (±0.00000)
Rank: 37/51
Avg 7240.0 185.83 94.45
Rank: 41/51
3288.39
Rank: 34/51
3.420
Rank: 41/51
0.45771
Rank: 37/51
0.54886 (±0.00000)
Rank: 37/51
0.62868 (±0.00000)
Rank: 41/51



Prague Parks dataset / Stereo track


mAA at 10 degrees: 0.75422 (±0.00000 over 1 run(s) / ±0.07610 over 3 scenes)
Rank (per category): 8 (of 51)

Scene Features Matches
(raw)
Matches
(final)
Rep. @ 3 px. MS @ 3 px. mAA(5o) mAA(10o)
Lizard 7499.2 235.7 0.085
Rank: 32/51
0.008
Rank: 33/51
0.58530 (±0.00000)
Rank: 8/51
0.70929 (±0.00000)
Rank: 8/51
Pond 7863.3 310.6 0.103
Rank: 36/51
0.044
Rank: 36/51
0.56874 (±0.00000)
Rank: 11/51
0.69198 (±0.00000)
Rank: 11/51
Tree 7852.3 418.6 0.123
Rank: 20/51
0.020
Rank: 21/51
0.79470 (±0.00000)
Rank: 3/51
0.86137 (±0.00000)
Rank: 8/51
Avg 7738.3 321.6 0.104
Rank: 29/51
0.024
Rank: 38/51
0.64958 (±0.00000)
Rank: 8/51
0.75422 (±0.00000)
Rank: 8/51




Prague Parks dataset / Multiview track


mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08806 over 3 scenes)
Rank (per category): 26 (of 51)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
Lizard 7499.2 220.61 81.53
Rank: 34/51
692.10
Rank: 35/51
2.743
Rank: 37/51
13.78689
Rank: 10/51
0.47333 (±0.00000)
Rank: 29/51
0.56041 (±0.00000)
Rank: 30/51
Pond 7863.3 299.59 70.40
Rank: 15/51
635.55
Rank: 37/51
2.367
Rank: 38/51
0.43591
Rank: 29/51
0.31340 (±0.00000)
Rank: 2/51
0.34517 (±0.00000)
Rank: 1/51
Tree 7852.3 289.08 71.00
Rank: 24/51
730.95
Rank: 35/51
2.509
Rank: 38/51
6.36287
Rank: 36/51
0.44331 (±0.00000)
Rank: 21/51
0.46508 (±0.00000)
Rank: 25/51
Avg 7738.3 269.76 74.31
Rank: 29/51
686.20
Rank: 37/51
2.540
Rank: 38/51
6.86189
Rank: 21/51
0.41001 (±0.00000)
Rank: 25/51
0.45689 (±0.00000)
Rank: 26/51



Google Urban dataset / Stereo track


mAA at 10 degrees: 0.40485 (±0.00000 over 1 run(s) / ±0.11019 over 17 scenes)
Rank (per category): 9 (of 51)

Scene Features Matches
(raw)
Matches
(final)
mAA(5o) mAA(10o)
Amsterdam (AMS) 7126.5 1057.0 0.27411 (±0.00000)
Rank: 8/51
0.42143 (±0.00000)
Rank: 8/51
Bangkok (BGK) 7136.9 870.4 0.08437 (±0.00000)
Rank: 5/51
0.23201 (±0.00000)
Rank: 5/51
Barcelona (BCN) 7012.3 684.6 0.13846 (±0.00000)
Rank: 7/51
0.22564 (±0.00000)
Rank: 9/51
Buenos Aires (BAR) 6880.5 676.3 0.26941 (±0.00000)
Rank: 8/51
0.42283 (±0.00000)
Rank: 8/51
Cambridge (CAM) 6947.3 779.1 0.29384 (±0.00000)
Rank: 8/51
0.42637 (±0.00000)
Rank: 7/51
Cannes (CAN) 7173.0 1048.3 0.41014 (±0.00000)
Rank: 9/51
0.49631 (±0.00000)
Rank: 13/51
Chicago (CHI) 6903.2 699.1 0.25396 (±0.00000)
Rank: 6/51
0.38292 (±0.00000)
Rank: 6/51
Helsinki (HEL) 5940.1 615.4 0.38299 (±0.00000)
Rank: 5/51
0.58686 (±0.00000)
Rank: 3/51
Madrid (MAD) 7142.7 690.3 0.12280 (±0.00000)
Rank: 1/51
0.25653 (±0.00000)
Rank: 1/51
Mountain View (MTV) 6953.6 640.9 0.26992 (±0.00000)
Rank: 1/51
0.41152 (±0.00000)
Rank: 2/51
New Orleans (NOR) 7384.4 587.9 0.30118 (±0.00000)
Rank: 9/51
0.40237 (±0.00000)
Rank: 5/51
San Francisco (SF) 7060.6 665.6 0.21050 (±0.00000)
Rank: 6/51
0.34908 (±0.00000)
Rank: 8/51
Singapore (SG) 7061.7 750.2 0.30443 (±0.00000)
Rank: 12/51
0.41108 (±0.00000)
Rank: 11/51
Sydney (SYD) 7007.3 564.0 0.33537 (±0.00000)
Rank: 4/51
0.48952 (±0.00000)
Rank: 9/51
Tokyo (TOK) 6689.2 538.2 0.51127 (±0.00000)
Rank: 5/51
0.65539 (±0.00000)
Rank: 5/51
Toronto (TOR) 7471.4 799.7 0.20800 (±0.00000)
Rank: 10/51
0.38400 (±0.00000)
Rank: 9/51
Zurich (ZRH) 6485.4 611.6 0.25086 (±0.00000)
Rank: 13/51
0.32852 (±0.00000)
Rank: 11/51
Average (Avg) 6963.3 722.3 0.27186 (±0.00000)
Rank: 9/51
0.40485 (±0.00000)
Rank: 9/51




Google Urban dataset / Multiview track


mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12765 over 17 scenes)
Rank (per category): 9 (of 51)

Scene Features Matches
(input)
Registration
Ratio (%)
Number of
Landmarks
Track Length ATE mAA(50) mAA(100)
AMS 7126.5 653.04 92.00
Rank: 9/51
5797.51
Rank: 6/51
3.646
Rank: 10/51
27.67071
Rank: 26/51
0.37571 (±0.00000)
Rank: 4/51
0.50496 (±0.00000)
Rank: 3/51
BGK 7136.9 625.69 97.47
Rank: 3/51
7071.83
Rank: 7/51
3.502
Rank: 17/51
14.39290
Rank: 21/51
0.03836 (±0.00000)
Rank: 1/51
0.11021 (±0.00000)
Rank: 1/51
BCN 7012.3 414.13 86.80
Rank: 6/51
2891.67
Rank: 6/51
3.321
Rank: 18/51
27.93771
Rank: 23/51
0.13668 (±0.00000)
Rank: 11/51
0.21469 (±0.00000)
Rank: 11/51
BAR 6880.5 390.15 87.08
Rank: 8/51
3442.23
Rank: 6/51
3.213
Rank: 11/51
15.83034
Rank: 19/51
0.17659 (±0.00000)
Rank: 6/51
0.27759 (±0.00000)
Rank: 5/51
CAM 6947.3 462.72 87.95
Rank: 8/51
4005.43
Rank: 6/51
3.230
Rank: 10/51
25.98011
Rank: 22/51
0.19652 (±0.00000)
Rank: 4/51
0.29196 (±0.00000)
Rank: 3/51
CAN 7173.0 529.94 80.78
Rank: 9/51
2208.75
Rank: 7/51
3.319
Rank: 10/51
20.95021
Rank: 21/51
0.07197 (±0.00000)
Rank: 9/51
0.10907 (±0.00000)
Rank: 11/51
CHI 6903.2 621.93 92.75
Rank: 4/51
1912.63
Rank: 5/51
4.848
Rank: 11/51
49.67169
Rank: 28/51
0.16462 (±0.00000)
Rank: 4/51
0.25172 (±0.00000)
Rank: 7/51
HEL 5940.1 424.55 95.60
Rank: 4/51
4920.57
Rank: 9/51
3.265
Rank: 18/51
12.05681
Rank: 8/51
0.29873 (±0.00000)
Rank: 7/51
0.43605 (±0.00000)
Rank: 10/51
MAD 7142.7 420.97 90.61
Rank: 9/51
4710.79
Rank: 6/51
3.130
Rank: 19/51
6.95757
Rank: 27/51
0.06647 (±0.00000)
Rank: 11/51
0.15636 (±0.00000)
Rank: 9/51
MTV 6953.6 454.97 93.21
Rank: 2/51
4192.39
Rank: 6/51
3.675
Rank: 13/51
16.70445
Rank: 26/51
0.25193 (±0.00000)
Rank: 6/51
0.37864 (±0.00000)
Rank: 6/51
NOR 7384.4 362.83 87.18
Rank: 3/51
2898.53
Rank: 7/51
3.235
Rank: 4/51
13.77015
Rank: 27/51
0.23417 (±0.00000)
Rank: 8/51
0.31688 (±0.00000)
Rank: 8/51
SF 7060.6 396.17 95.27
Rank: 6/51
3569.94
Rank: 7/51
3.281
Rank: 14/51
17.92172
Rank: 21/51
0.20219 (±0.00000)
Rank: 9/51
0.32009 (±0.00000)
Rank: 9/51
SG 7061.7 443.87 71.49
Rank: 12/51
2654.15
Rank: 7/51
3.123
Rank: 14/51
17.03059
Rank: 20/51
0.12627 (±0.00000)
Rank: 12/51
0.17723 (±0.00000)
Rank: 13/51
SYD 7007.3 346.70 81.66
Rank: 9/51
2682.08
Rank: 7/51
2.906
Rank: 23/51
13.27924
Rank: 15/51
0.16276 (±0.00000)
Rank: 14/51
0.24401 (±0.00000)
Rank: 14/51
TOK 6689.2 346.85 86.79
Rank: 12/51
3959.15
Rank: 8/51
3.281
Rank: 19/51
15.59542
Rank: 24/51
0.51983 (±0.00000)
Rank: 10/51
0.59206 (±0.00000)
Rank: 10/51
TOR 7471.4 490.20 91.87
Rank: 6/51
5268.53
Rank: 6/51
3.131
Rank: 13/51
18.32831
Rank: 25/51
0.18313 (±0.00000)
Rank: 4/51
0.30183 (±0.00000)
Rank: 5/51
ZRH 6485.4 372.09 85.74
Rank: 6/51
3106.26
Rank: 8/51
2.968
Rank: 19/51
18.31602
Rank: 20/51
0.13898 (±0.00000)
Rank: 5/51
0.23015 (±0.00000)
Rank: 4/51
Avg 6963.3 456.28 88.48
Rank: 9/51
3840.73
Rank: 7/51
3.357
Rank: 15/51
19.55259
Rank: 21/51
0.19676 (±0.00000)
Rank: 9/51
0.28903 (±0.00000)
Rank: 9/51