Submission ID: 00042
ORB (OpenCV), DEGENSAC
Processed: 20-04-22. Download link: sid-00042-orb-8k-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: orb
- Descriptor: orb (32 uint8: 32 bytes)
- Number of features: 8000
- Summary: ORB with (up to) 8000 features, using the built-in matcher (bidirectional filter with the both strategy) and DEGENSAC.
- Paper: N/A
- Website: https://opencv.org
- Origin: Baseline
- Flags: is_baseline
Phototourism / Stereo track
mAA at 10 degrees: 0.16159 (±0.00090 over 3 run(s) / ±0.08828 over 9 scenes)
Rank (per category): 137 (of 147)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 7494.5 | 415.4 | 415.4 | 301.7 | 0.693 Rank: 2/147 |
0.844 Rank: 123/147 |
0.01709 (±0.00002) Rank: 139/147 |
0.04634 (±0.00067) Rank: 139/147 |
| fcs | 7886.4 | 270.9 | 270.9 | 151.9 | 0.461 Rank: 74/147 |
0.766 Rank: 131/147 |
0.21509 (±0.00189) Rank: 135/147 |
0.32628 (±0.00247) Rank: 137/147 |
| lms | 3921.0 | 251.5 | 251.5 | 189.0 | 0.619 Rank: 7/147 |
0.671 Rank: 99/147 |
0.21158 (±0.00138) Rank: 135/147 |
0.29875 (±0.00098) Rank: 135/147 |
| lb | 6973.0 | 180.3 | 180.3 | 98.3 | 0.465 Rank: 126/147 |
0.525 Rank: 134/147 |
0.07763 (±0.00002) Rank: 139/147 |
0.12055 (±0.00084) Rank: 137/147 |
| mc | 7653.6 | 196.0 | 196.0 | 103.1 | 0.472 Rank: 133/147 |
0.754 Rank: 133/147 |
0.05964 (±0.00002) Rank: 139/147 |
0.11590 (±0.00300) Rank: 136/147 |
| mr | 7280.0 | 267.3 | 267.3 | 187.9 | 0.473 Rank: 75/147 |
0.801 Rank: 133/147 |
0.06746 (±0.00092) Rank: 136/147 |
0.12021 (±0.00201) Rank: 136/147 |
| psm | 7816.2 | 206.7 | 206.7 | 123.7 | 0.470 Rank: 8/147 |
0.199 Rank: 139/147 |
0.03676 (±0.00076) Rank: 139/147 |
0.09053 (±0.00179) Rank: 140/147 |
| sf | 7643.9 | 297.6 | 297.6 | 181.7 | 0.475 Rank: 129/147 |
0.659 Rank: 135/147 |
0.10585 (±0.00119) Rank: 138/147 |
0.18020 (±0.00158) Rank: 138/147 |
| spc | 7683.4 | 230.0 | 230.0 | 120.6 | 0.503 Rank: 20/147 |
0.659 Rank: 130/147 |
0.08576 (±0.00104) Rank: 135/147 |
0.15554 (±0.00055) Rank: 135/147 |
| avg | 7150.2 | 257.3 | 257.3 | 162.0 | 0.514 Rank: 16/147 |
0.653 Rank: 131/147 |
0.09743 (±0.00035) Rank: 137/147 |
0.16159 (±0.00090) Rank: 137/147 |
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: 0.08054 (±0.00242 over 3 run(s) / ±0.05858 over 9 scenes)
Rank (per category): 147 (of 147)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 7494.5 | 1013.61 | 88.84 Rank: 144/147 |
2141.52 Rank: 122/147 |
3.210 Rank: 145/147 |
1.32248 Rank: 147/147 |
0.00628 (±0.00054) Rank: 145/147 |
0.02015 (±0.00185) Rank: 145/147 |
| fcs | 7886.4 | 994.30 | 66.73 Rank: 145/147 |
1139.06 Rank: 146/147 |
2.627 Rank: 145/147 |
0.74275 Rank: 147/147 |
0.10757 (±0.00221) Rank: 147/147 |
0.15189 (±0.00382) Rank: 147/147 |
| lms | 3921.0 | 525.65 | 80.03 Rank: 144/147 |
1568.42 Rank: 137/147 |
3.125 Rank: 144/147 |
1.02547 Rank: 147/147 |
0.08094 (±0.00732) Rank: 146/147 |
0.12369 (±0.00620) Rank: 145/147 |
| lb | 6973.0 | 888.01 | 66.49 Rank: 145/147 |
1138.75 Rank: 141/147 |
2.626 Rank: 145/147 |
0.67496 Rank: 147/147 |
0.01340 (±0.00163) Rank: 147/147 |
0.02925 (±0.00229) Rank: 147/147 |
| mc | 7653.6 | 945.93 | 66.03 Rank: 145/147 |
908.45 Rank: 147/147 |
2.639 Rank: 145/147 |
0.85953 Rank: 146/147 |
0.03256 (±0.00123) Rank: 147/147 |
0.05945 (±0.00172) Rank: 147/147 |
| mr | 7280.0 | 898.98 | 53.18 Rank: 145/147 |
535.91 Rank: 146/147 |
2.666 Rank: 144/147 |
0.84869 Rank: 144/147 |
0.02035 (±0.00213) Rank: 147/147 |
0.03472 (±0.00231) Rank: 146/147 |
| psm | 7816.2 | 961.60 | 53.27 Rank: 144/147 |
2202.18 Rank: 109/147 |
2.090 Rank: 145/147 |
0.92097 Rank: 144/147 |
0.00135 (±0.00009) Rank: 145/147 |
0.00704 (±0.00035) Rank: 145/147 |
| sf | 7643.9 | 985.00 | 69.97 Rank: 147/147 |
1706.72 Rank: 144/147 |
2.843 Rank: 145/147 |
0.68895 Rank: 147/147 |
0.11599 (±0.00549) Rank: 147/147 |
0.16039 (±0.00912) Rank: 147/147 |
| spc | 7683.4 | 979.71 | 73.60 Rank: 144/147 |
1469.44 Rank: 142/147 |
2.676 Rank: 145/147 |
0.98701 Rank: 143/147 |
0.07694 (±0.00721) Rank: 145/147 |
0.13828 (±0.01010) Rank: 145/147 |
| avg | 7150.2 | 910.31 | 68.68 Rank: 145/147 |
1423.38 Rank: 144/147 |
2.722 Rank: 145/147 |
0.89676 Rank: 147/147 |
0.05060 (±0.00207) Rank: 147/147 |
0.08054 (±0.00242) Rank: 147/147 |
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 —
