Submission ID: 00018
R2D2 (r2d2-wasf-n16), DEGENSAC
Processed: 20-04-23. Download link: sid-00018-r2d2-wasf-n16-2k-both-degensac.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
- Authors: Challenge organizers (contact)
- Keypoint: r2d2-wasf-n16
- Descriptor: r2d2-wasf-n16 (128 float32: 512 bytes)
- Number of features: 2048
- Summary: R2D2 (model r2d2-wasf-n16) with 2k features, using the built-in matcher (bidirectional filter with the both strategy) and no ratio test, and DEGENSAC with optimal parameters for stereo.
- Paper: N/A
- Website: https://opencv.org
- Origin: Baseline
- Flags: is_baseline
Phototourism / Stereo track
mAA at 10 degrees: 0.35783 (±0.00061 over 3 run(s) / ±0.12874 over 9 scenes)
Rank (per category): 74 (of 108)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 2048.0 | 289.2 | 289.2 | 200.4 | 0.493 Rank: 25/108 |
0.861 Rank: 78/108 |
0.12938 (±0.00183) Rank: 70/108 |
0.21922 (±0.00139) Rank: 71/108 |
| fcs | 2048.0 | 249.5 | 249.5 | 161.7 | 0.388 Rank: 20/108 |
0.811 Rank: 80/108 |
0.42039 (±0.00347) Rank: 82/108 |
0.56505 (±0.00303) Rank: 80/108 |
| lms | 2048.0 | 266.3 | 266.3 | 192.5 | 0.350 Rank: 87/108 |
0.653 Rank: 76/108 |
0.42989 (±0.00074) Rank: 37/108 |
0.56196 (±0.00088) Rank: 35/108 |
| lb | 2048.0 | 201.8 | 201.8 | 127.4 | 0.365 Rank: 27/108 |
0.675 Rank: 56/108 |
0.27825 (±0.00183) Rank: 70/108 |
0.38461 (±0.00096) Rank: 56/108 |
| mc | 2048.0 | 278.8 | 278.8 | 202.6 | 0.532 Rank: 2/108 |
0.864 Rank: 70/108 |
0.18431 (±0.00183) Rank: 70/108 |
0.30448 (±0.00095) Rank: 82/108 |
| mr | 2048.0 | 304.7 | 304.7 | 234.9 | 0.487 Rank: 2/108 |
0.914 Rank: 47/108 |
0.18161 (±0.00150) Rank: 65/108 |
0.27359 (±0.00150) Rank: 63/108 |
| psm | 2048.0 | 204.9 | 204.9 | 134.1 | 0.332 Rank: 22/108 |
0.339 Rank: 76/108 |
0.08821 (±0.00159) Rank: 60/108 |
0.17258 (±0.00106) Rank: 56/108 |
| sf | 2048.0 | 260.2 | 260.2 | 182.6 | 0.424 Rank: 13/108 |
0.705 Rank: 83/108 |
0.25056 (±0.00079) Rank: 84/108 |
0.37609 (±0.00268) Rank: 83/108 |
| spc | 2048.0 | 239.8 | 239.8 | 152.2 | 0.426 Rank: 20/108 |
0.707 Rank: 82/108 |
0.23081 (±0.00103) Rank: 83/108 |
0.36285 (±0.00170) Rank: 82/108 |
| avg | 2048.0 | 255.0 | 255.0 | 176.5 | 0.422 Rank: 20/108 |
0.725 Rank: 80/108 |
0.24371 (±0.00052) Rank: 76/108 |
0.35783 (±0.00061) Rank: 74/108 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— british museum —
— florence cathedral side —
— lincoln memorial statue —
— london bridge —
— milan cathedral —
— mount rushmore —
— piazza san marco —
— sagrada familia —
— saint paul's cathedral —
Phototourism / Multiview track
mAA at 10 degrees: 0.60639 (±0.00124 over 3 run(s) / ±0.16864 over 9 scenes)
Rank (per category): 56 (of 108)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 2048.0 | 288.46 | 99.74 Rank: 38/108 |
927.48 Rank: 95/108 |
4.557 Rank: 81/108 |
0.69129 Rank: 73/108 |
0.30089 (±0.00391) Rank: 61/108 |
0.44112 (±0.00380) Rank: 62/108 |
| fcs | 2048.0 | 257.55 | 96.18 Rank: 66/108 |
1312.56 Rank: 100/108 |
4.139 Rank: 72/108 |
0.29630 Rank: 76/108 |
0.65820 (±0.00809) Rank: 70/108 |
0.74122 (±0.01013) Rank: 65/108 |
| lms | 2048.0 | 287.27 | 98.34 Rank: 55/108 |
1318.16 Rank: 57/108 |
4.410 Rank: 88/108 |
0.32036 Rank: 56/108 |
0.76580 (±0.00296) Rank: 43/108 |
0.83610 (±0.00459) Rank: 48/108 |
| lb | 2048.0 | 236.48 | 98.27 Rank: 33/108 |
869.63 Rank: 100/108 |
4.585 Rank: 39/108 |
0.51552 Rank: 50/108 |
0.56524 (±0.01151) Rank: 39/108 |
0.68647 (±0.00978) Rank: 40/108 |
| mc | 2048.0 | 274.05 | 99.50 Rank: 34/108 |
963.54 Rank: 94/108 |
4.821 Rank: 23/108 |
0.45664 Rank: 51/108 |
0.43599 (±0.00596) Rank: 48/108 |
0.59145 (±0.00655) Rank: 41/108 |
| mr | 2048.0 | 302.21 | 93.64 Rank: 23/108 |
1162.75 Rank: 93/108 |
4.499 Rank: 23/108 |
0.57362 Rank: 67/108 |
0.33374 (±0.00393) Rank: 57/108 |
0.45562 (±0.00612) Rank: 54/108 |
| psm | 2048.0 | 204.67 | 86.69 Rank: 38/108 |
1688.40 Rank: 37/108 |
2.844 Rank: 73/108 |
0.71656 Rank: 55/108 |
0.18940 (±0.00809) Rank: 65/108 |
0.28169 (±0.00837) Rank: 61/108 |
| sf | 2048.0 | 259.54 | 95.11 Rank: 71/108 |
1321.85 Rank: 102/108 |
4.424 Rank: 59/108 |
0.33857 Rank: 52/108 |
0.63658 (±0.00614) Rank: 61/108 |
0.72985 (±0.00689) Rank: 62/108 |
| spc | 2048.0 | 247.95 | 97.27 Rank: 76/108 |
1128.65 Rank: 98/108 |
4.412 Rank: 40/108 |
0.58428 Rank: 77/108 |
0.57016 (±0.00292) Rank: 75/108 |
0.69394 (±0.00314) Rank: 71/108 |
| avg | 2048.0 | 262.02 | 96.08 Rank: 37/108 |
1188.11 Rank: 89/108 |
4.299 Rank: 58/108 |
0.49924 Rank: 61/108 |
0.49511 (±0.00095) Rank: 57/108 |
0.60639 (±0.00124) Rank: 56/108 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 25 images (displaying: 10). Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— british museum —
— florence cathedral side —
— lincoln memorial statue —
— london bridge —
— milan cathedral —
— mount rushmore —
— piazza san marco —
— sagrada familia —
— saint paul's cathedral —
