Submission ID: 00700
HardNet (upright), DEGENSAC
Processed: 20-06-01. Download link: sid-00700-hardnet-upright-degensac-2k.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: sift-def
- Descriptor: hardnet-upright (128 float32: 512 bytes)
- Number of features: 2048
- Summary: HardNet descriptors extracted on SIFT keypoints with a fixed orientation, and DEGENSAC for stereo. Re-using parameters found for the orientation-sensitive variant. Please refer to the baselines repository (linked) for details.
- 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: 0.46093 (±0.00080 over 3 run(s) / ±0.13690 over 9 scenes)
Rank (per category): 21 (of 108)
| Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
| bm | 2004.2 | 343.5 | 343.5 | 200.7 | 0.427 Rank: 56/108 |
0.942 Rank: 24/108 |
0.23393 (±0.00056) Rank: 19/108 |
0.36515 (±0.00149) Rank: 19/108 |
| fcs | 2043.3 | 322.0 | 322.0 | 198.3 | 0.305 Rank: 48/108 |
0.905 Rank: 11/108 |
0.54650 (±0.00200) Rank: 19/108 |
0.67515 (±0.00142) Rank: 19/108 |
| lms | 1027.6 | 199.2 | 199.2 | 120.2 | 0.360 Rank: 65/108 |
0.703 Rank: 29/108 |
0.44546 (±0.00186) Rank: 31/108 |
0.58112 (±0.00195) Rank: 30/108 |
| lb | 1943.7 | 239.5 | 239.5 | 111.6 | 0.312 Rank: 52/108 |
0.713 Rank: 22/108 |
0.35147 (±0.00056) Rank: 19/108 |
0.44772 (±0.00406) Rank: 27/108 |
| mc | 2026.8 | 249.8 | 249.8 | 131.5 | 0.333 Rank: 51/108 |
0.929 Rank: 22/108 |
0.31117 (±0.00056) Rank: 19/108 |
0.45199 (±0.00564) Rank: 21/108 |
| mr | 1950.2 | 294.5 | 294.5 | 186.1 | 0.328 Rank: 65/108 |
0.951 Rank: 11/108 |
0.23503 (±0.00157) Rank: 23/108 |
0.33686 (±0.00103) Rank: 22/108 |
| psm | 2024.3 | 167.0 | 167.0 | 78.8 | 0.273 Rank: 73/108 |
0.441 Rank: 46/108 |
0.10856 (±0.00160) Rank: 34/108 |
0.19877 (±0.00048) Rank: 37/108 |
| sf | 1992.0 | 361.4 | 361.4 | 204.2 | 0.336 Rank: 55/108 |
0.850 Rank: 6/108 |
0.39488 (±0.00352) Rank: 22/108 |
0.53198 (±0.00299) Rank: 23/108 |
| spc | 2022.4 | 289.2 | 289.2 | 142.9 | 0.318 Rank: 61/108 |
0.870 Rank: 5/108 |
0.40793 (±0.00119) Rank: 15/108 |
0.55966 (±0.00202) Rank: 18/108 |
| avg | 1892.7 | 274.0 | 274.0 | 152.7 | 0.333 Rank: 60/108 |
0.812 Rank: 17/108 |
0.33721 (±0.00037) Rank: 18/108 |
0.46093 (±0.00080) Rank: 21/108 |
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: 0.63544 (±0.00324 over 3 run(s) / ±0.16145 over 9 scenes)
Rank (per category): 44 (of 108)
| Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
| bm | 2004.2 | 257.13 | 99.82 Rank: 26/108 |
1181.28 Rank: 56/108 |
5.203 Rank: 33/108 |
0.55646 Rank: 29/108 |
0.37522 (±0.00220) Rank: 32/108 |
0.52385 (±0.00308) Rank: 33/108 |
| fcs | 2043.3 | 250.80 | 97.94 Rank: 21/108 |
1895.80 Rank: 41/108 |
4.302 Rank: 46/108 |
0.25974 Rank: 33/108 |
0.69356 (±0.00902) Rank: 41/108 |
0.77061 (±0.00878) Rank: 40/108 |
| lms | 1027.6 | 157.58 | 98.89 Rank: 36/108 |
1003.85 Rank: 78/108 |
4.809 Rank: 46/108 |
0.31610 Rank: 52/108 |
0.77333 (±0.00703) Rank: 34/108 |
0.85575 (±0.00664) Rank: 26/108 |
| lb | 1943.7 | 197.08 | 97.11 Rank: 63/108 |
1302.56 Rank: 48/108 |
4.351 Rank: 54/108 |
0.51322 Rank: 49/108 |
0.51898 (±0.00979) Rank: 55/108 |
0.63942 (±0.01176) Rank: 56/108 |
| mc | 2026.8 | 160.03 | 97.71 Rank: 49/108 |
1257.37 Rank: 50/108 |
4.164 Rank: 60/108 |
0.44777 Rank: 47/108 |
0.44271 (±0.00582) Rank: 44/108 |
0.57854 (±0.00561) Rank: 46/108 |
| mr | 1950.2 | 228.13 | 93.16 Rank: 32/108 |
1845.59 Rank: 22/108 |
4.041 Rank: 53/108 |
0.59700 Rank: 77/108 |
0.34718 (±0.00261) Rank: 45/108 |
0.46708 (±0.00587) Rank: 43/108 |
| psm | 2024.3 | 85.20 | 83.63 Rank: 45/108 |
1135.52 Rank: 61/108 |
3.111 Rank: 42/108 |
0.65037 Rank: 37/108 |
0.25367 (±0.00321) Rank: 51/108 |
0.34102 (±0.00417) Rank: 49/108 |
| sf | 1992.0 | 271.91 | 96.90 Rank: 42/108 |
1992.61 Rank: 37/108 |
4.475 Rank: 48/108 |
0.33816 Rank: 51/108 |
0.66891 (±0.01114) Rank: 45/108 |
0.76466 (±0.01232) Rank: 45/108 |
| spc | 2022.4 | 203.46 | 99.46 Rank: 34/108 |
1596.18 Rank: 43/108 |
4.342 Rank: 51/108 |
0.51204 Rank: 41/108 |
0.67027 (±0.00145) Rank: 35/108 |
0.77809 (±0.00061) Rank: 38/108 |
| avg | 1892.7 | 201.26 | 96.07 Rank: 38/108 |
1467.86 Rank: 53/108 |
4.311 Rank: 53/108 |
0.46565 Rank: 43/108 |
0.52709 (±0.00321) Rank: 45/108 |
0.63544 (±0.00324) Rank: 44/108 |
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 —
