Submission ID: 00053
HardNet w/ MAGSAC (no FLANN)
Processed: 20-04-23. Download link: sid-00053-hardnet-8k-both-magsac-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. MAGSAC 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: 0.55022 (±0.00001 over 3 run(s) / ±0.15178 over 9 scenes)
Rank (per category): 34 (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 | 605.1 | 0.527 Rank: 49/147 |
0.928 Rank: 94/147 |
0.20622 (±0.00134) Rank: 71/147 |
0.32915 (±0.00026) Rank: 65/147 |
| fcs | 7873.6 | 805.7 | 805.7 | 714.4 | 0.443 Rank: 91/147 |
0.933 Rank: 61/147 |
0.63817 (±0.00353) Rank: 22/147 |
0.75773 (±0.00120) Rank: 15/147 |
| lms | 7770.9 | 551.3 | 551.3 | 452.7 | 0.468 Rank: 23/147 |
0.666 Rank: 106/147 |
0.56272 (±0.00227) Rank: 29/147 |
0.67459 (±0.00260) Rank: 35/147 |
| lb | 7952.8 | 499.2 | 499.2 | 394.8 | 0.474 Rank: 92/147 |
0.765 Rank: 52/147 |
0.47690 (±0.00134) Rank: 71/147 |
0.57754 (±0.00149) Rank: 43/147 |
| mc | 7823.8 | 737.1 | 737.1 | 649.5 | 0.524 Rank: 99/147 |
0.946 Rank: 90/147 |
0.39743 (±0.00134) Rank: 71/147 |
0.55185 (±0.00194) Rank: 37/147 |
| mr | 7790.8 | 698.8 | 698.8 | 651.9 | 0.457 Rank: 99/147 |
0.958 Rank: 77/147 |
0.33198 (±0.00172) Rank: 40/147 |
0.44675 (±0.00236) Rank: 37/147 |
| psm | 7807.3 | 359.2 | 359.2 | 299.8 | 0.385 Rank: 102/147 |
0.642 Rank: 57/147 |
0.17443 (±0.00033) Rank: 30/147 |
0.29783 (±0.00073) Rank: 31/147 |
| sf | 7893.6 | 929.4 | 929.4 | 845.0 | 0.479 Rank: 102/147 |
0.886 Rank: 40/147 |
0.55484 (±0.00222) Rank: 14/147 |
0.68501 (±0.00130) Rank: 8/147 |
| spc | 7868.9 | 678.3 | 678.3 | 562.6 | 0.487 Rank: 102/147 |
0.858 Rank: 69/147 |
0.47942 (±0.00276) Rank: 23/147 |
0.63148 (±0.00232) Rank: 24/147 |
| avg | 7861.1 | 660.9 | 660.9 | 575.1 | 0.472 Rank: 103/147 |
0.842 Rank: 65/147 |
0.42468 (±0.00017) Rank: 33/147 |
0.55022 (±0.00001) Rank: 34/147 |
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 |
0.46329 Rank: 52/147 |
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 |
0.23479 Rank: 10/147 |
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 |
0.26957 Rank: 22/147 |
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 |
0.50631 Rank: 86/147 |
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 |
0.39794 Rank: 61/147 |
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 |
0.47974 Rank: 35/147 |
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 |
0.63297 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 |
0.32731 Rank: 72/147 |
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 |
0.46262 Rank: 44/147 |
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 |
0.41939 Rank: 50/147 |
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 —
