Submission ID: 00051
HardNet w/ DEGENSAC (no FLANN)
Processed: 20-04-22. Download link: sid-00051-hardnet-8k-both-degensac-no-flann.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: sift8k
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 8000
- Summary: HardNet descriptors on DoG features (OpenCV), extracted with a low detection threshold to generate up to 8000 points. Using the built-in matcher: bidirectional filter with the both strategy. DEGENSAC for stereo. FLANN disabled
- 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: 0.55430 (±0.00031 over 3 run(s) / ±0.14990 over 9 scenes)
Rank (per category): 29 (of 147)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 7968.3 | 689.0 | 689.0 | 465.4 | 0.527 Rank: 49/147 |
0.947 Rank: 45/147 |
0.23046 (±0.00192) Rank: 44/147 |
0.35219 (±0.00229) Rank: 45/147 |
| fcs | 7873.6 | 805.7 | 805.7 | 552.5 | 0.443 Rank: 91/147 |
0.948 Rank: 6/147 |
0.64199 (±0.00213) Rank: 15/147 |
0.76023 (±0.00094) Rank: 13/147 |
| lms | 7770.9 | 551.3 | 551.3 | 301.1 | 0.468 Rank: 23/147 |
0.699 Rank: 40/147 |
0.56785 (±0.00105) Rank: 24/147 |
0.68861 (±0.00102) Rank: 24/147 |
| lb | 7952.8 | 499.2 | 499.2 | 300.3 | 0.474 Rank: 92/147 |
0.789 Rank: 24/147 |
0.49095 (±0.00192) Rank: 44/147 |
0.58583 (±0.00104) Rank: 38/147 |
| mc | 7823.8 | 737.1 | 737.1 | 503.0 | 0.524 Rank: 99/147 |
0.962 Rank: 37/147 |
0.40540 (±0.00192) Rank: 44/147 |
0.55713 (±0.00199) Rank: 34/147 |
| mr | 7790.8 | 698.8 | 698.8 | 513.5 | 0.457 Rank: 99/147 |
0.976 Rank: 24/147 |
0.33364 (±0.00223) Rank: 38/147 |
0.44712 (±0.00205) Rank: 36/147 |
| psm | 7807.3 | 359.2 | 359.2 | 220.5 | 0.385 Rank: 102/147 |
0.670 Rank: 45/147 |
0.16914 (±0.00100) Rank: 35/147 |
0.29251 (±0.00065) Rank: 35/147 |
| sf | 7893.6 | 929.4 | 929.4 | 623.2 | 0.479 Rank: 102/147 |
0.908 Rank: 3/147 |
0.53396 (±0.00165) Rank: 32/147 |
0.67000 (±0.00173) Rank: 19/147 |
| spc | 7868.9 | 678.3 | 678.3 | 411.3 | 0.487 Rank: 102/147 |
0.893 Rank: 12/147 |
0.48282 (±0.00251) Rank: 22/147 |
0.63512 (±0.00221) Rank: 21/147 |
| avg | 7861.1 | 660.9 | 660.9 | 432.3 | 0.472 Rank: 103/147 |
0.866 Rank: 25/147 |
0.42847 (±0.00039) Rank: 30/147 |
0.55430 (±0.00031) Rank: 29/147 |
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: 0.70962 (±0.00191 over 3 run(s) / ±0.12757 over 9 scenes)
Rank (per category): 49 (of 147)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 7968.3 | 423.25 | 99.89 Rank: 31/147 |
2866.03 Rank: 78/147 |
5.045 Rank: 40/147 |
0.46674 Rank: 53/147 |
0.46448 (±0.00400) Rank: 50/147 |
0.61996 (±0.00491) Rank: 49/147 |
| fcs | 7873.6 | 544.60 | 98.99 Rank: 12/147 |
5000.88 Rank: 59/147 |
4.466 Rank: 70/147 |
0.23362 Rank: 8/147 |
0.74560 (±0.00822) Rank: 22/147 |
0.81498 (±0.00797) Rank: 15/147 |
| lms | 7770.9 | 337.20 | 99.27 Rank: 49/147 |
3252.70 Rank: 81/147 |
4.405 Rank: 84/147 |
0.26939 Rank: 20/147 |
0.83159 (±0.00731) Rank: 43/147 |
0.88928 (±0.00853) Rank: 41/147 |
| lb | 7952.8 | 373.52 | 98.34 Rank: 78/147 |
3093.12 Rank: 75/147 |
4.569 Rank: 79/147 |
0.50714 Rank: 87/147 |
0.63409 (±0.00731) Rank: 75/147 |
0.73056 (±0.00765) Rank: 76/147 |
| mc | 7823.8 | 460.31 | 99.69 Rank: 64/147 |
4181.23 Rank: 74/147 |
4.521 Rank: 89/147 |
0.40122 Rank: 68/147 |
0.51332 (±0.00791) Rank: 49/147 |
0.66034 (±0.00993) Rank: 49/147 |
| mr | 7790.8 | 510.72 | 94.26 Rank: 70/147 |
4849.60 Rank: 68/147 |
4.088 Rank: 87/147 |
0.47192 Rank: 22/147 |
0.43125 (±0.00529) Rank: 73/147 |
0.54509 (±0.00599) Rank: 74/147 |
| psm | 7807.3 | 165.59 | 91.13 Rank: 78/147 |
2510.94 Rank: 97/147 |
3.344 Rank: 69/147 |
0.63324 Rank: 40/147 |
0.41833 (±0.01501) Rank: 53/147 |
0.50050 (±0.01790) Rank: 51/147 |
| sf | 7893.6 | 635.30 | 98.58 Rank: 40/147 |
6153.05 Rank: 67/147 |
4.331 Rank: 84/147 |
0.32515 Rank: 66/147 |
0.73002 (±0.00553) Rank: 44/147 |
0.81676 (±0.00654) Rank: 38/147 |
| spc | 7868.9 | 391.12 | 99.60 Rank: 42/147 |
4105.00 Rank: 67/147 |
4.283 Rank: 75/147 |
0.45957 Rank: 39/147 |
0.71219 (±0.00492) Rank: 34/147 |
0.80910 (±0.00471) Rank: 38/147 |
| avg | 7861.1 | 426.84 | 97.75 Rank: 58/147 |
4001.40 Rank: 77/147 |
4.339 Rank: 79/147 |
0.41867 Rank: 47/147 |
0.60899 (±0.00142) Rank: 48/147 |
0.70962 (±0.00191) Rank: 49/147 |
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 —
