Submission ID: 00508
modified-r2d2
Processed: 20-04-25. Download link: sid-00508-modified-r2d2-8k-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: caoliang (contact)
- Keypoint: modified-r2d2
- Descriptor: modified-r2d2 (128 float32: 512 bytes)
- Number of features: 8000
- Summary: r2d2 with 8000 features, using the built-in matcher (bidirectional filter with the both strategy, optimal inlier and ratio test thresholds) with DEGENSAC, and setting keypoint orientation to a constant value to increase performance.
- Paper: https://europe.naverlabs.com/wp-content/uploads/2019/09/R2D2-Repeatable-and-Reliable-Detector-and-Descriptor-2.pdf
- Website: https://github.com/naver/r2d2
- Origin: Submission
- Flags: is_submission, is_challenge_2020
Phototourism / Stereo track
mAA at 10 degrees: 0.32815 (±0.00037 over 3 run(s) / ±0.11207 over 9 scenes)
Rank (per category): 127 (of 147)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 7937.5 | 386.8 | 386.8 | 194.5 | 0.585 Rank: 16/147 |
0.912 Rank: 112/147 |
0.13246 (±0.00138) Rank: 116/147 |
0.21532 (±0.00323) Rank: 119/147 |
| fcs | 7812.8 | 317.9 | 317.9 | 159.5 | 0.497 Rank: 12/147 |
0.862 Rank: 119/147 |
0.39691 (±0.00333) Rank: 127/147 |
0.53346 (±0.00228) Rank: 127/147 |
| lms | 7725.9 | 308.7 | 308.7 | 157.5 | 0.439 Rank: 127/147 |
0.690 Rank: 82/147 |
0.35341 (±0.00085) Rank: 126/147 |
0.45826 (±0.00041) Rank: 126/147 |
| lb | 7884.2 | 215.0 | 215.0 | 108.1 | 0.456 Rank: 127/147 |
0.712 Rank: 115/147 |
0.23515 (±0.00138) Rank: 116/147 |
0.33405 (±0.00306) Rank: 128/147 |
| mc | 7742.6 | 364.1 | 364.1 | 180.5 | 0.609 Rank: 9/147 |
0.912 Rank: 117/147 |
0.18689 (±0.00138) Rank: 116/147 |
0.31759 (±0.00179) Rank: 127/147 |
| mr | 7642.0 | 468.8 | 468.8 | 256.8 | 0.592 Rank: 8/147 |
0.947 Rank: 100/147 |
0.19324 (±0.00301) Rank: 124/147 |
0.28259 (±0.00313) Rank: 123/147 |
| psm | 7753.2 | 173.6 | 173.6 | 86.1 | 0.419 Rank: 16/147 |
0.527 Rank: 105/147 |
0.06688 (±0.00119) Rank: 133/147 |
0.13226 (±0.00178) Rank: 136/147 |
| sf | 7788.2 | 365.4 | 365.4 | 180.1 | 0.542 Rank: 11/147 |
0.735 Rank: 130/147 |
0.23472 (±0.00404) Rank: 133/147 |
0.35342 (±0.00333) Rank: 133/147 |
| spc | 7840.0 | 254.6 | 254.6 | 122.6 | 0.513 Rank: 16/147 |
0.764 Rank: 122/147 |
0.19826 (±0.00044) Rank: 129/147 |
0.32639 (±0.00142) Rank: 128/147 |
| avg | 7791.8 | 317.2 | 317.2 | 160.6 | 0.517 Rank: 15/147 |
0.785 Rank: 119/147 |
0.22199 (±0.00039) Rank: 128/147 |
0.32815 (±0.00037) Rank: 127/147 |
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: 0.62899 (±0.00193 over 3 run(s) / ±0.11427 over 9 scenes)
Rank (per category): 115 (of 147)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 7937.5 | 388.06 | 99.98 Rank: 6/147 |
2425.39 Rank: 109/147 |
4.760 Rank: 114/147 |
0.50403 Rank: 75/147 |
0.43319 (±0.00461) Rank: 78/147 |
0.58286 (±0.00594) Rank: 77/147 |
| fcs | 7812.8 | 332.00 | 95.38 Rank: 138/147 |
3306.96 Rank: 129/147 |
4.121 Rank: 125/147 |
0.30023 Rank: 130/147 |
0.65662 (±0.00399) Rank: 129/147 |
0.73126 (±0.00400) Rank: 131/147 |
| lms | 7725.9 | 340.38 | 97.53 Rank: 135/147 |
2673.83 Rank: 122/147 |
4.288 Rank: 123/147 |
0.36244 Rank: 134/147 |
0.71825 (±0.01015) Rank: 128/147 |
0.78807 (±0.01054) Rank: 129/147 |
| lb | 7884.2 | 267.82 | 97.93 Rank: 102/147 |
1941.91 Rank: 133/147 |
4.562 Rank: 81/147 |
0.51049 Rank: 89/147 |
0.59688 (±0.00479) Rank: 91/147 |
0.71309 (±0.00270) Rank: 86/147 |
| mc | 7742.6 | 356.40 | 99.14 Rank: 121/147 |
2567.78 Rank: 132/147 |
4.691 Rank: 63/147 |
0.44508 Rank: 118/147 |
0.42574 (±0.00330) Rank: 129/147 |
0.58634 (±0.00357) Rank: 129/147 |
| mr | 7642.0 | 464.04 | 94.25 Rank: 73/147 |
3408.38 Rank: 124/147 |
4.340 Rank: 41/147 |
0.53273 Rank: 109/147 |
0.38244 (±0.00338) Rank: 113/147 |
0.50230 (±0.00613) Rank: 111/147 |
| psm | 7753.2 | 173.45 | 84.75 Rank: 118/147 |
2624.74 Rank: 88/147 |
3.255 Rank: 83/147 |
0.72085 Rank: 62/147 |
0.33431 (±0.01245) Rank: 101/147 |
0.40499 (±0.01370) Rank: 104/147 |
| sf | 7788.2 | 367.87 | 92.65 Rank: 141/147 |
3713.97 Rank: 136/147 |
4.095 Rank: 130/147 |
0.36381 Rank: 124/147 |
0.59303 (±0.00550) Rank: 133/147 |
0.68273 (±0.00745) Rank: 134/147 |
| spc | 7840.0 | 265.46 | 94.84 Rank: 138/147 |
2638.51 Rank: 129/147 |
4.138 Rank: 100/147 |
0.65353 Rank: 132/147 |
0.55457 (±0.00131) Rank: 132/147 |
0.66928 (±0.00076) Rank: 132/147 |
| avg | 7791.8 | 328.39 | 95.16 Rank: 133/147 |
2811.27 Rank: 131/147 |
4.250 Rank: 98/147 |
0.48813 Rank: 121/147 |
0.52167 (±0.00206) Rank: 121/147 |
0.62899 (±0.00193) Rank: 115/147 |
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 —
