Submission ID: 00123
KeyNet-HardNet-2k
Processed: 20-05-03. Download link: sid-00123-keynet-hardnet-2k-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: 2048
- Summary: KeyNet-HardNet with 2048 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: 0.32725 (±0.00026 over 3 run(s) / ±0.12965 over 9 scenes)
Rank (per category): 83 (of 108)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 2048.0 | 268.4 | 268.4 | 126.9 | 0.572 Rank: 11/108 |
0.948 Rank: 11/108 |
0.06962 (±0.00052) Rank: 89/108 |
0.14858 (±0.00035) Rank: 89/108 |
| fcs | 2048.0 | 304.8 | 304.8 | 151.2 | 0.428 Rank: 1/108 |
0.926 Rank: 1/108 |
0.44193 (±0.00235) Rank: 78/108 |
0.59734 (±0.00226) Rank: 65/108 |
| lms | 2048.0 | 359.7 | 359.7 | 187.9 | 0.509 Rank: 1/108 |
0.714 Rank: 5/108 |
0.22868 (±0.00057) Rank: 93/108 |
0.33235 (±0.00066) Rank: 93/108 |
| lb | 2048.0 | 248.1 | 248.1 | 104.1 | 0.419 Rank: 8/108 |
0.720 Rank: 16/108 |
0.16792 (±0.00052) Rank: 89/108 |
0.25828 (±0.00184) Rank: 90/108 |
| mc | 2048.0 | 292.8 | 292.8 | 141.7 | 0.524 Rank: 13/108 |
0.940 Rank: 5/108 |
0.20085 (±0.00052) Rank: 89/108 |
0.34251 (±0.00268) Rank: 70/108 |
| mr | 2048.0 | 303.6 | 303.6 | 158.7 | 0.480 Rank: 4/108 |
0.938 Rank: 23/108 |
0.16677 (±0.00261) Rank: 78/108 |
0.24970 (±0.00290) Rank: 78/108 |
| psm | 2048.0 | 147.2 | 147.2 | 64.2 | 0.389 Rank: 1/108 |
0.505 Rank: 28/108 |
0.09450 (±0.00228) Rank: 50/108 |
0.18900 (±0.00171) Rank: 45/108 |
| sf | 2048.0 | 336.7 | 336.7 | 164.8 | 0.447 Rank: 7/108 |
0.845 Rank: 10/108 |
0.29343 (±0.00293) Rank: 78/108 |
0.43936 (±0.00364) Rank: 75/108 |
| spc | 2048.0 | 253.3 | 253.3 | 110.0 | 0.451 Rank: 18/108 |
0.825 Rank: 43/108 |
0.23755 (±0.00102) Rank: 80/108 |
0.38811 (±0.00138) Rank: 78/108 |
| avg | 2048.0 | 279.4 | 279.4 | 134.4 | 0.469 Rank: 1/108 |
0.818 Rank: 12/108 |
0.21125 (±0.00014) Rank: 86/108 |
0.32725 (±0.00026) Rank: 83/108 |
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: 0.61606 (±0.00141 over 3 run(s) / ±0.16561 over 9 scenes)
Rank (per category): 52 (of 108)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 2048.0 | 183.19 | 99.45 Rank: 77/108 |
806.47 Rank: 100/108 |
5.146 Rank: 38/108 |
0.71556 Rank: 80/108 |
0.29779 (±0.00660) Rank: 63/108 |
0.44235 (±0.00919) Rank: 61/108 |
| fcs | 2048.0 | 221.13 | 98.15 Rank: 16/108 |
1561.85 Rank: 80/108 |
4.358 Rank: 35/108 |
0.25974 Rank: 32/108 |
0.70461 (±0.00606) Rank: 33/108 |
0.78282 (±0.00520) Rank: 27/108 |
| lms | 2048.0 | 274.89 | 99.07 Rank: 30/108 |
1500.24 Rank: 46/108 |
5.142 Rank: 19/108 |
0.32484 Rank: 65/108 |
0.74318 (±0.01437) Rank: 59/108 |
0.83656 (±0.01650) Rank: 47/108 |
| lb | 2048.0 | 200.24 | 96.84 Rank: 69/108 |
1077.34 Rank: 82/108 |
4.693 Rank: 35/108 |
0.49629 Rank: 33/108 |
0.46304 (±0.00935) Rank: 70/108 |
0.59915 (±0.01136) Rank: 69/108 |
| mc | 2048.0 | 190.31 | 99.46 Rank: 35/108 |
1179.66 Rank: 63/108 |
4.775 Rank: 24/108 |
0.41624 Rank: 33/108 |
0.46890 (±0.00310) Rank: 34/108 |
0.61959 (±0.00223) Rank: 34/108 |
| mr | 2048.0 | 223.88 | 91.33 Rank: 64/108 |
1512.44 Rank: 61/108 |
4.210 Rank: 41/108 |
0.55793 Rank: 46/108 |
0.32640 (±0.00786) Rank: 65/108 |
0.43762 (±0.00904) Rank: 65/108 |
| psm | 2048.0 | 71.41 | 81.18 Rank: 56/108 |
937.01 Rank: 85/108 |
3.214 Rank: 32/108 |
0.73658 Rank: 62/108 |
0.26810 (±0.00699) Rank: 48/108 |
0.34176 (±0.00989) Rank: 48/108 |
| sf | 2048.0 | 236.53 | 97.02 Rank: 41/108 |
1656.51 Rank: 82/108 |
4.503 Rank: 40/108 |
0.35512 Rank: 64/108 |
0.66862 (±0.00568) Rank: 46/108 |
0.76415 (±0.00662) Rank: 46/108 |
| spc | 2048.0 | 156.42 | 98.68 Rank: 53/108 |
1255.15 Rank: 83/108 |
4.392 Rank: 42/108 |
0.54929 Rank: 59/108 |
0.60445 (±0.00520) Rank: 66/108 |
0.72060 (±0.00253) Rank: 65/108 |
| avg | 2048.0 | 195.33 | 95.69 Rank: 48/108 |
1276.30 Rank: 78/108 |
4.493 Rank: 34/108 |
0.49018 Rank: 55/108 |
0.50501 (±0.00134) Rank: 53/108 |
0.61606 (±0.00141) Rank: 52/108 |
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 —
