Submission ID: 00100
KeyNet-HardNet-8k
Processed: 20-05-04. Download link: sid-00100-keynet-hardnet-8k-both-ransac.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: keynettuned
- Descriptor: vlhardnet (128 float32: 512 bytes)
- Number of features: 8000
- Summary: KeyNet-HardNet with 8000 features, using the built-in matcher (bidirectional filter with the both strategy, optimal inlier and ratio test thresholds) with RANSAC
- Paper: N/A
- Website: N/A
- Origin: Baseline
- Flags: is_baseline
Phototourism / Stereo track
mAA at 10 degrees: 0.39971 (±0.00147 over 3 run(s) / ±0.13300 over 9 scenes)
Rank (per category): 121 (of 147)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 8000.0 | 923.3 | 923.3 | 415.7 | 0.675 Rank: 4/147 |
0.938 Rank: 73/147 |
0.11096 (±0.00450) Rank: 122/147 |
0.21868 (±0.00336) Rank: 117/147 |
| fcs | 8000.0 | 1127.5 | 1127.5 | 518.2 | 0.536 Rank: 3/147 |
0.926 Rank: 80/147 |
0.48807 (±0.00365) Rank: 117/147 |
0.64461 (±0.00333) Rank: 114/147 |
| lms | 7978.7 | 1050.0 | 1050.0 | 456.4 | 0.607 Rank: 8/147 |
0.693 Rank: 65/147 |
0.34118 (±0.00341) Rank: 127/147 |
0.46224 (±0.00206) Rank: 125/147 |
| lb | 8000.0 | 811.8 | 811.8 | 308.0 | 0.541 Rank: 6/147 |
0.745 Rank: 85/147 |
0.26314 (±0.00450) Rank: 122/147 |
0.38388 (±0.00049) Rank: 123/147 |
| mc | 8000.0 | 1127.4 | 1127.4 | 522.8 | 0.657 Rank: 2/147 |
0.943 Rank: 92/147 |
0.22282 (±0.00450) Rank: 122/147 |
0.36993 (±0.00233) Rank: 125/147 |
| mr | 8000.0 | 1168.8 | 1168.8 | 578.8 | 0.613 Rank: 4/147 |
0.946 Rank: 102/147 |
0.19585 (±0.00197) Rank: 122/147 |
0.28145 (±0.00078) Rank: 124/147 |
| psm | 8000.0 | 645.7 | 645.7 | 269.7 | 0.469 Rank: 9/147 |
0.644 Rank: 55/147 |
0.13027 (±0.00093) Rank: 91/147 |
0.24120 (±0.00236) Rank: 84/147 |
| sf | 8000.0 | 1340.2 | 1340.2 | 620.8 | 0.576 Rank: 2/147 |
0.868 Rank: 84/147 |
0.38106 (±0.00524) Rank: 124/147 |
0.53703 (±0.00295) Rank: 121/147 |
| spc | 8000.0 | 870.7 | 870.7 | 342.6 | 0.561 Rank: 6/147 |
0.842 Rank: 92/147 |
0.29290 (±0.00481) Rank: 119/147 |
0.45836 (±0.00425) Rank: 117/147 |
| avg | 7997.6 | 1007.2 | 1007.2 | 448.1 | 0.582 Rank: 2/147 |
0.838 Rank: 73/147 |
0.26958 (±0.00152) Rank: 124/147 |
0.39971 (±0.00147) Rank: 121/147 |
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: 0.64829 (±0.00174 over 3 run(s) / ±0.12621 over 9 scenes)
Rank (per category): 105 (of 147)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 8000.0 | 329.17 | 99.67 Rank: 92/147 |
2108.22 Rank: 127/147 |
4.993 Rank: 59/147 |
0.57383 Rank: 103/147 |
0.36208 (±0.00368) Rank: 104/147 |
0.51655 (±0.00301) Rank: 101/147 |
| fcs | 8000.0 | 419.11 | 98.61 Rank: 35/147 |
4176.67 Rank: 97/147 |
4.271 Rank: 110/147 |
0.24241 Rank: 22/147 |
0.70581 (±0.01007) Rank: 96/147 |
0.78504 (±0.01083) Rank: 74/147 |
| lms | 7978.7 | 363.40 | 98.59 Rank: 105/147 |
3202.26 Rank: 85/147 |
4.570 Rank: 38/147 |
0.32942 Rank: 121/147 |
0.75985 (±0.00566) Rank: 117/147 |
0.83344 (±0.00680) Rank: 116/147 |
| lb | 8000.0 | 321.31 | 96.53 Rank: 126/147 |
2702.94 Rank: 109/147 |
4.478 Rank: 99/147 |
0.52814 Rank: 108/147 |
0.50193 (±0.00523) Rank: 124/147 |
0.63335 (±0.00639) Rank: 114/147 |
| mc | 8000.0 | 376.28 | 99.60 Rank: 83/147 |
3368.07 Rank: 110/147 |
4.627 Rank: 74/147 |
0.44175 Rank: 116/147 |
0.46998 (±0.00553) Rank: 111/147 |
0.62469 (±0.00536) Rank: 112/147 |
| mr | 8000.0 | 499.04 | 94.08 Rank: 76/147 |
4566.76 Rank: 81/147 |
4.179 Rank: 69/147 |
0.55712 Rank: 121/147 |
0.37548 (±0.00590) Rank: 115/147 |
0.49306 (±0.00742) Rank: 114/147 |
| psm | 8000.0 | 148.89 | 88.88 Rank: 96/147 |
2197.86 Rank: 110/147 |
3.467 Rank: 49/147 |
0.57308 Rank: 27/147 |
0.40508 (±0.00952) Rank: 59/147 |
0.47327 (±0.01168) Rank: 63/147 |
| sf | 8000.0 | 517.71 | 96.99 Rank: 108/147 |
5050.22 Rank: 107/147 |
4.281 Rank: 92/147 |
0.35893 Rank: 120/147 |
0.67266 (±0.00480) Rank: 121/147 |
0.76560 (±0.00562) Rank: 121/147 |
| spc | 8000.0 | 231.01 | 97.77 Rank: 123/147 |
2921.08 Rank: 126/147 |
4.001 Rank: 119/147 |
0.55535 Rank: 110/147 |
0.59914 (±0.00626) Rank: 123/147 |
0.70962 (±0.00736) Rank: 123/147 |
| avg | 7997.6 | 356.21 | 96.75 Rank: 97/147 |
3366.01 Rank: 108/147 |
4.319 Rank: 81/147 |
0.46223 Rank: 102/147 |
0.53911 (±0.00192) Rank: 108/147 |
0.64829 (±0.00174) Rank: 105/147 |
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 —
