Submission ID: 00039
HardNet, MAGSAC
Processed: 20-04-22. Download link: sid-00039-hardnet-magsac-2k.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: sift-def
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 2048
- Summary: HardNet descriptors extracted on SIFT keypoints and MAGSAC for stereo. Please refer to the baselines repository (linked) for details.
- Paper: https://arxiv.org/abs/1705.10872
- Website: https://github.com/DagnyT/hardnet
- Origin: Baseline
- Flags: is_baseline
Phototourism / Stereo track
mAA at 10 degrees: 0.38490 (±0.00120 over 3 run(s) / ±0.13231 over 9 scenes)
Rank (per category): 65 (of 108)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 2024.7 | 271.9 | 271.9 | 195.4 | 0.429 Rank: 43/108 |
0.910 Rank: 61/108 |
0.15620 (±0.00054) Rank: 49/108 |
0.26957 (±0.00266) Rank: 49/108 |
| fcs | 2048.0 | 242.9 | 242.9 | 164.4 | 0.282 Rank: 85/108 |
0.867 Rank: 58/108 |
0.49266 (±0.00194) Rank: 54/108 |
0.62234 (±0.00236) Rank: 50/108 |
| lms | 1256.3 | 188.9 | 188.9 | 132.3 | 0.369 Rank: 43/108 |
0.683 Rank: 55/108 |
0.37109 (±0.00284) Rank: 72/108 |
0.47762 (±0.00159) Rank: 72/108 |
| lb | 1980.8 | 192.6 | 192.6 | 104.2 | 0.294 Rank: 86/108 |
0.650 Rank: 76/108 |
0.27107 (±0.00054) Rank: 49/108 |
0.35500 (±0.00169) Rank: 70/108 |
| mc | 2039.6 | 178.6 | 178.6 | 99.1 | 0.313 Rank: 86/108 |
0.871 Rank: 66/108 |
0.23841 (±0.00054) Rank: 49/108 |
0.35846 (±0.00040) Rank: 66/108 |
| mr | 1988.8 | 194.8 | 194.8 | 138.9 | 0.313 Rank: 87/108 |
0.899 Rank: 59/108 |
0.17601 (±0.00097) Rank: 68/108 |
0.26621 (±0.00250) Rank: 68/108 |
| psm | 2041.5 | 138.2 | 138.2 | 91.4 | 0.276 Rank: 49/108 |
0.328 Rank: 81/108 |
0.08702 (±0.00023) Rank: 63/108 |
0.16705 (±0.00074) Rank: 66/108 |
| sf | 2012.7 | 263.1 | 263.1 | 183.9 | 0.323 Rank: 83/108 |
0.798 Rank: 53/108 |
0.32926 (±0.00275) Rank: 64/108 |
0.46185 (±0.00144) Rank: 66/108 |
| spc | 2034.1 | 227.8 | 227.8 | 136.1 | 0.303 Rank: 84/108 |
0.811 Rank: 51/108 |
0.34385 (±0.00325) Rank: 41/108 |
0.48601 (±0.00293) Rank: 43/108 |
| avg | 1936.3 | 211.0 | 211.0 | 138.4 | 0.323 Rank: 84/108 |
0.757 Rank: 72/108 |
0.27395 (±0.00075) Rank: 64/108 |
0.38490 (±0.00120) Rank: 65/108 |
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: 0.55573 (±0.00175 over 3 run(s) / ±0.19627 over 9 scenes)
Rank (per category): 79 (of 108)
| Scene | Features | Matches (input) |
Registration Ratio (%) |
Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 2024.7 | 205.62 | 99.72 Rank: 42/108 |
1103.04 Rank: 68/108 |
5.001 Rank: 51/108 |
0.69763 Rank: 77/108 |
0.26751 (±0.00355) Rank: 78/108 |
0.40751 (±0.00371) Rank: 77/108 |
| fcs | 2048.0 | 185.04 | 96.14 Rank: 68/108 |
1706.14 Rank: 63/108 |
3.995 Rank: 84/108 |
0.25886 Rank: 28/108 |
0.66409 (±0.00431) Rank: 65/108 |
0.74716 (±0.00366) Rank: 57/108 |
| lms | 1256.3 | 149.04 | 97.68 Rank: 67/108 |
1164.01 Rank: 65/108 |
4.527 Rank: 76/108 |
0.29718 Rank: 23/108 |
0.73109 (±0.00570) Rank: 69/108 |
0.81788 (±0.00683) Rank: 63/108 |
| lb | 1980.8 | 153.19 | 94.68 Rank: 90/108 |
1140.78 Rank: 74/108 |
4.074 Rank: 83/108 |
0.58520 Rank: 94/108 |
0.40534 (±0.00499) Rank: 86/108 |
0.51914 (±0.00648) Rank: 86/108 |
| mc | 2039.6 | 110.18 | 93.74 Rank: 87/108 |
1031.37 Rank: 82/108 |
3.826 Rank: 87/108 |
0.57327 Rank: 87/108 |
0.33920 (±0.00872) Rank: 81/108 |
0.46053 (±0.01033) Rank: 83/108 |
| mr | 1988.8 | 145.46 | 89.17 Rank: 82/108 |
1470.23 Rank: 64/108 |
3.771 Rank: 85/108 |
0.60770 Rank: 80/108 |
0.30555 (±0.01115) Rank: 75/108 |
0.40640 (±0.01358) Rank: 77/108 |
| psm | 2041.5 | 69.60 | 72.00 Rank: 88/108 |
966.36 Rank: 79/108 |
2.768 Rank: 77/108 |
0.87051 Rank: 92/108 |
0.12634 (±0.00260) Rank: 83/108 |
0.19519 (±0.00283) Rank: 82/108 |
| sf | 2012.7 | 198.77 | 95.66 Rank: 60/108 |
1724.41 Rank: 72/108 |
4.226 Rank: 82/108 |
0.39872 Rank: 86/108 |
0.61974 (±0.00400) Rank: 73/108 |
0.71603 (±0.00352) Rank: 71/108 |
| spc | 2034.1 | 162.74 | 98.48 Rank: 58/108 |
1453.42 Rank: 59/108 |
4.046 Rank: 86/108 |
0.54828 Rank: 56/108 |
0.61882 (±0.00486) Rank: 60/108 |
0.73172 (±0.00452) Rank: 59/108 |
| avg | 1936.3 | 153.29 | 93.03 Rank: 78/108 |
1306.64 Rank: 72/108 |
4.026 Rank: 85/108 |
0.53748 Rank: 81/108 |
0.45308 (±0.00156) Rank: 79/108 |
0.55573 (±0.00175) Rank: 79/108 |
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 —
