Submission ID: 2b0f7960

my_method

Processed: 22-02-26. Download link: 2b0f79608532b279-r2d2-for-test.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.

Phototourism dataset: Stereo track / Multiview track
Prague Parks dataset: Stereo track / Multiview track
Google Urban dataset: Stereo track / Multiview track

Metadata

Authors: name (contact)
Keypoint: r2d2
Descriptor: r2d2-desc (128 float32: 512 bytes)
Number of features: 8000
Summary: my_method.
Paper: N/A
Website: https://opencv.org
Processing date: 22-02-26

Phototourism dataset / Stereo track

mAA at 10 degrees: 0.33425 (±0.00000 over 1 run(s) / ±0.12117 over 9 scenes)
Rank (per category): 42 (of 51)

Scene	Features	Matches (raw)	Matches (filter)	Matches (final)	Rep. @ 3 px.	MS @ 3 px.	mAA(5^o)	mAA(10^o)
BM	7956.2	365.9	365.9	192.9	0.624 Rank: 24/51	0.931 Rank: 22/51	0.14375 (±0.00000) Rank: 42/51	0.22908 (±0.00000) Rank: 42/51
FCS	7849.0	292.6	292.6	149.1	0.497 Rank: 25/51	0.863 Rank: 36/51	0.40124 (±0.00000) Rank: 40/51	0.54272 (±0.00000) Rank: 40/51
LMS	7796.5	264.5	264.5	132.0	0.427 Rank: 38/51	0.688 Rank: 21/51	0.37837 (±0.00000) Rank: 41/51	0.49119 (±0.00000) Rank: 41/51
LB	7966.8	162.8	162.8	83.5	0.422 Rank: 47/51	0.723 Rank: 25/51	0.19567 (±0.00000) Rank: 42/51	0.29474 (±0.00000) Rank: 43/51
MC	7820.0	284.6	284.6	144.7	0.585 Rank: 34/51	0.915 Rank: 27/51	0.18237 (±0.00000) Rank: 42/51	0.31073 (±0.00000) Rank: 42/51
MR	7803.6	413.3	413.3	223.2	0.578 Rank: 22/51	0.939 Rank: 26/51	0.18512 (±0.00000) Rank: 43/51	0.27237 (±0.00000) Rank: 43/51
PSM	7786.1	166.2	166.2	83.8	0.426 Rank: 24/51	0.609 Rank: 41/51	0.06989 (±0.00000) Rank: 42/51	0.14024 (±0.00000) Rank: 40/51
SF	7858.1	363.6	363.6	179.5	0.561 Rank: 7/51	0.800 Rank: 31/51	0.29321 (±0.00000) Rank: 42/51	0.42555 (±0.00000) Rank: 42/51
SPC	7874.4	230.8	230.8	112.3	0.495 Rank: 38/51	0.778 Rank: 37/51	0.17651 (±0.00000) Rank: 43/51	0.30160 (±0.00000) Rank: 43/51
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_matcher_9 }}	{{ num_matches_filter_9 }}	{{ num_matches_geom_9 }}	{{ repeatability_9 }} Rank: {{ repeatability_rank_9 }}/51	{{ matching_score_9 }} Rank: {{ matching_score_rank_9 }}/51	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/51	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/51
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_matcher_10 }}	{{ num_matches_filter_10 }}	{{ num_matches_geom_10 }}	{{ repeatability_10 }} Rank: {{ repeatability_rank_10 }}/51	{{ matching_score_10 }} Rank: {{ matching_score_rank_10 }}/51	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/51	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/51
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_matcher_11 }}	{{ num_matches_filter_11 }}	{{ num_matches_geom_11 }}	{{ repeatability_11 }} Rank: {{ repeatability_rank_11 }}/51	{{ matching_score_11 }} Rank: {{ matching_score_rank_11 }}/51	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/51	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/51
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_matcher_12 }}	{{ num_matches_filter_12 }}	{{ num_matches_geom_12 }}	{{ repeatability_12 }} Rank: {{ repeatability_rank_12 }}/51	{{ matching_score_12 }} Rank: {{ matching_score_rank_12 }}/51	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/51	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/51
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_matcher_13 }}	{{ num_matches_filter_13 }}	{{ num_matches_geom_13 }}	{{ repeatability_13 }} Rank: {{ repeatability_rank_13 }}/51	{{ matching_score_13 }} Rank: {{ matching_score_rank_13 }}/51	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/51	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/51
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_matcher_14 }}	{{ num_matches_filter_14 }}	{{ num_matches_geom_14 }}	{{ repeatability_14 }} Rank: {{ repeatability_rank_14 }}/51	{{ matching_score_14 }} Rank: {{ matching_score_rank_14 }}/51	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/51	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/51
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_matcher_15 }}	{{ num_matches_filter_15 }}	{{ num_matches_geom_15 }}	{{ repeatability_15 }} Rank: {{ repeatability_rank_15 }}/51	{{ matching_score_15 }} Rank: {{ matching_score_rank_15 }}/51	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/51	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/51
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_matcher_16 }}	{{ num_matches_filter_16 }}	{{ num_matches_geom_16 }}	{{ repeatability_16 }} Rank: {{ repeatability_rank_16 }}/51	{{ matching_score_16 }} Rank: {{ matching_score_rank_16 }}/51	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/51	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/51
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_matcher_17 }}	{{ num_matches_filter_17 }}	{{ num_matches_geom_17 }}	{{ repeatability_17 }} Rank: {{ repeatability_rank_17 }}/51	{{ matching_score_17 }} Rank: {{ matching_score_rank_17 }}/51	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/51	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/51
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_matcher_18 }}	{{ num_matches_filter_18 }}	{{ num_matches_geom_18 }}	{{ repeatability_18 }} Rank: {{ repeatability_rank_18 }}/51	{{ matching_score_18 }} Rank: {{ matching_score_rank_18 }}/51	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/51	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/51
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_matcher_19 }}	{{ num_matches_filter_19 }}	{{ num_matches_geom_19 }}	{{ repeatability_19 }} Rank: {{ repeatability_rank_19 }}/51	{{ matching_score_19 }} Rank: {{ matching_score_rank_19 }}/51	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/51	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/51
{{ scene_20 }}	{{ num_keypoints_20 }}	{{ num_matches_matcher_20 }}	{{ num_matches_filter_20 }}	{{ num_matches_geom_20 }}	{{ repeatability_20 }} Rank: {{ repeatability_rank_20 }}/51	{{ matching_score_20 }} Rank: {{ matching_score_rank_20 }}/51	{{ map5_20 }} (±{{ map5_std_20 }}) Rank: {{ map5_rank_20 }}/51	{{ map10_20 }} (±{{ map10_std_20 }}) Rank: {{ map10_rank_20 }}/51
Avg	7856.8	282.7	282.7	144.6	0.513 Rank: 27/51	0.805 Rank: 32/51	0.22512 (±0.00000) Rank: 42/51	0.33425 (±0.00000) Rank: 42/51

Phototourism dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10298 over 9 scenes)
Rank (per category): 36 (of 51)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
BM	7956.2	368.43	99.53 Rank: 40/51	2258.98 Rank: 41/51	4.887 Rank: 26/51	0.48068 Rank: 31/51	0.45364 (±0.00000) Rank: 31/51	0.60494 (±0.00000) Rank: 30/51
FCS	7849.0	304.57	95.95 Rank: 39/51	3002.58 Rank: 48/51	4.147 Rank: 38/51	0.29549 Rank: 39/51	0.65687 (±0.00000) Rank: 39/51	0.72782 (±0.00000) Rank: 39/51
LMS	7796.5	291.69	97.53 Rank: 38/51	2647.44 Rank: 34/51	4.150 Rank: 41/51	0.32334 Rank: 28/51	0.74653 (±0.00000) Rank: 37/51	0.81051 (±0.00000) Rank: 37/51
LB	7966.8	198.71	95.97 Rank: 45/51	1557.82 Rank: 43/51	4.410 Rank: 35/51	0.53147 Rank: 42/51	0.52717 (±0.00000) Rank: 45/51	0.65000 (±0.00000) Rank: 44/51
MC	7820.0	280.60	99.04 Rank: 43/51	2147.15 Rank: 48/51	4.700 Rank: 33/51	0.48190 Rank: 45/51	0.42731 (±0.00000) Rank: 45/51	0.58713 (±0.00000) Rank: 45/51
MR	7803.6	408.68	94.07 Rank: 32/51	3166.91 Rank: 43/51	4.405 Rank: 29/51	0.50403 Rank: 30/51	0.39887 (±0.00000) Rank: 35/51	0.51502 (±0.00000) Rank: 35/51
PSM	7786.1	166.28	88.55 Rank: 36/51	2573.25 Rank: 39/51	3.387 Rank: 31/51	0.55880 Rank: 32/51	0.40743 (±0.00000) Rank: 34/51	0.47861 (±0.00000) Rank: 34/51
SF	7858.1	364.04	94.76 Rank: 41/51	3570.69 Rank: 42/51	4.287 Rank: 38/51	0.33076 Rank: 34/51	0.65402 (±0.00000) Rank: 37/51	0.74358 (±0.00000) Rank: 37/51
SPC	7874.4	240.02	95.73 Rank: 42/51	2402.49 Rank: 42/51	4.216 Rank: 34/51	0.67739 Rank: 44/51	0.57374 (±0.00000) Rank: 42/51	0.68872 (±0.00000) Rank: 40/51
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_9 }}	{{ ratio_registered_cameras_9 }} Rank: {{ ratio_registered_cameras_rank_9 }}/51	{{ num_landmarks_9 }} Rank: {{ num_landmarks_rank_9 }}/51	{{ track_length_9 }} Rank: {{ track_length_rank_9 }}/51	{{ ate_9 }} Rank: {{ ate_rank_9 }}/51	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/51	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/51
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_10 }}	{{ ratio_registered_cameras_10 }} Rank: {{ ratio_registered_cameras_rank_10 }}/51	{{ num_landmarks_10 }} Rank: {{ num_landmarks_rank_10 }}/51	{{ track_length_10 }} Rank: {{ track_length_rank_10 }}/51	{{ ate_10 }} Rank: {{ ate_rank_10 }}/51	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/51	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/51
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_11 }}	{{ ratio_registered_cameras_11 }} Rank: {{ ratio_registered_cameras_rank_11 }}/51	{{ num_landmarks_11 }} Rank: {{ num_landmarks_rank_11 }}/51	{{ track_length_11 }} Rank: {{ track_length_rank_11 }}/51	{{ ate_11 }} Rank: {{ ate_rank_11 }}/51	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/51	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/51
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_12 }}	{{ ratio_registered_cameras_12 }} Rank: {{ ratio_registered_cameras_rank_12 }}/51	{{ num_landmarks_12 }} Rank: {{ num_landmarks_rank_12 }}/51	{{ track_length_12 }} Rank: {{ track_length_rank_12 }}/51	{{ ate_12 }} Rank: {{ ate_rank_12 }}/51	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/51	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/51
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_13 }}	{{ ratio_registered_cameras_13 }} Rank: {{ ratio_registered_cameras_rank_13 }}/51	{{ num_landmarks_13 }} Rank: {{ num_landmarks_rank_13 }}/51	{{ track_length_13 }} Rank: {{ track_length_rank_13 }}/51	{{ ate_13 }} Rank: {{ ate_rank_13 }}/51	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/51	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/51
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_14 }}	{{ ratio_registered_cameras_14 }} Rank: {{ ratio_registered_cameras_rank_14 }}/51	{{ num_landmarks_14 }} Rank: {{ num_landmarks_rank_14 }}/51	{{ track_length_14 }} Rank: {{ track_length_rank_14 }}/51	{{ ate_14 }} Rank: {{ ate_rank_14 }}/51	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/51	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/51
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_15 }}	{{ ratio_registered_cameras_15 }} Rank: {{ ratio_registered_cameras_rank_15 }}/51	{{ num_landmarks_15 }} Rank: {{ num_landmarks_rank_15 }}/51	{{ track_length_15 }} Rank: {{ track_length_rank_15 }}/51	{{ ate_15 }} Rank: {{ ate_rank_15 }}/51	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/51	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/51
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_16 }}	{{ ratio_registered_cameras_16 }} Rank: {{ ratio_registered_cameras_rank_16 }}/51	{{ num_landmarks_16 }} Rank: {{ num_landmarks_rank_16 }}/51	{{ track_length_16 }} Rank: {{ track_length_rank_16 }}/51	{{ ate_16 }} Rank: {{ ate_rank_16 }}/51	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/51	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/51
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_17 }}	{{ ratio_registered_cameras_17 }} Rank: {{ ratio_registered_cameras_rank_17 }}/51	{{ num_landmarks_17 }} Rank: {{ num_landmarks_rank_17 }}/51	{{ track_length_17 }} Rank: {{ track_length_rank_17 }}/51	{{ ate_17 }} Rank: {{ ate_rank_17 }}/51	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/51	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/51
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_18 }}	{{ ratio_registered_cameras_18 }} Rank: {{ ratio_registered_cameras_rank_18 }}/51	{{ num_landmarks_18 }} Rank: {{ num_landmarks_rank_18 }}/51	{{ track_length_18 }} Rank: {{ track_length_rank_18 }}/51	{{ ate_18 }} Rank: {{ ate_rank_18 }}/51	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/51	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/51
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_19 }}	{{ ratio_registered_cameras_19 }} Rank: {{ ratio_registered_cameras_rank_19 }}/51	{{ num_landmarks_19 }} Rank: {{ num_landmarks_rank_19 }}/51	{{ track_length_19 }} Rank: {{ track_length_rank_19 }}/51	{{ ate_19 }} Rank: {{ ate_rank_19 }}/51	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/51	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/51
SPC	{{ num_keypoints_20 }}	{{ num_matches_20 }}	{{ ratio_registered_cameras_20 }} Rank: 42/51	{{ num_landmarks_20 }} Rank: 42/51	{{ track_length_20 }} Rank: 34/51	{{ ate_20 }} Rank: 44/51	{{ map5_20 }} (±0.00000) Rank: 42/51	{{ map10_20 }} (±0.00000) Rank: 40/51
Avg	7856.8	291.45	95.68 Rank: 36/51	2591.92 Rank: 45/51	4.288 Rank: 34/51	0.46487 Rank: 39/51	0.53840 (±0.00000) Rank: 39/51	0.64515 (±0.00000) Rank: 36/51

Prague Parks dataset / Stereo track

mAA at 10 degrees: 0.48106 (±0.00000 over 1 run(s) / ±0.09638 over 3 scenes)
Rank (per category): 32 (of 51)

Scene	Features	Matches (raw)	Matches (filter)	Matches (final)	Rep. @ 3 px.	MS @ 3 px.	mAA(5^o)	mAA(10^o)
Lizard	8000.0	431.4	431.4	143.2	0.059 Rank: 38/51	0.007 Rank: 37/51	0.26075 (±0.00000) Rank: 34/51	0.37490 (±0.00000) Rank: 33/51
Pond	8000.0	585.4	585.4	200.5	0.098 Rank: 38/51	0.051 Rank: 25/51	0.32465 (±0.00000) Rank: 33/51	0.46012 (±0.00000) Rank: 33/51
Tree	8000.0	346.2	346.2	117.1	0.070 Rank: 38/51	0.023 Rank: 3/51	0.49890 (±0.00000) Rank: 30/51	0.60817 (±0.00000) Rank: 27/51
LB	7966.8	162.8	162.8	83.5	0.422 Rank: 47/51	0.723 Rank: 25/51	0.19567 (±0.00000) Rank: 34/51	0.29474 (±0.00000) Rank: 43/51
MC	7820.0	284.6	284.6	144.7	0.585 Rank: 34/51	0.915 Rank: 27/51	0.18237 (±0.00000) Rank: 34/51	0.31073 (±0.00000) Rank: 42/51
MR	7803.6	413.3	413.3	223.2	0.578 Rank: 22/51	0.939 Rank: 26/51	0.18512 (±0.00000) Rank: 43/51	0.27237 (±0.00000) Rank: 43/51
PSM	7786.1	166.2	166.2	83.8	0.426 Rank: 24/51	0.609 Rank: 41/51	0.06989 (±0.00000) Rank: 42/51	0.14024 (±0.00000) Rank: 40/51
SF	7858.1	363.6	363.6	179.5	0.561 Rank: 7/51	0.800 Rank: 31/51	0.29321 (±0.00000) Rank: 42/51	0.42555 (±0.00000) Rank: 42/51
SPC	7874.4	230.8	230.8	112.3	0.495 Rank: 38/51	0.778 Rank: 37/51	0.17651 (±0.00000) Rank: 43/51	0.30160 (±0.00000) Rank: 43/51
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_matcher_9 }}	{{ num_matches_filter_9 }}	{{ num_matches_geom_9 }}	{{ repeatability_9 }} Rank: {{ repeatability_rank_9 }}/51	{{ matching_score_9 }} Rank: {{ matching_score_rank_9 }}/51	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/51	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/51
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_matcher_10 }}	{{ num_matches_filter_10 }}	{{ num_matches_geom_10 }}	{{ repeatability_10 }} Rank: {{ repeatability_rank_10 }}/51	{{ matching_score_10 }} Rank: {{ matching_score_rank_10 }}/51	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/51	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/51
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_matcher_11 }}	{{ num_matches_filter_11 }}	{{ num_matches_geom_11 }}	{{ repeatability_11 }} Rank: {{ repeatability_rank_11 }}/51	{{ matching_score_11 }} Rank: {{ matching_score_rank_11 }}/51	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/51	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/51
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_matcher_12 }}	{{ num_matches_filter_12 }}	{{ num_matches_geom_12 }}	{{ repeatability_12 }} Rank: {{ repeatability_rank_12 }}/51	{{ matching_score_12 }} Rank: {{ matching_score_rank_12 }}/51	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/51	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/51
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_matcher_13 }}	{{ num_matches_filter_13 }}	{{ num_matches_geom_13 }}	{{ repeatability_13 }} Rank: {{ repeatability_rank_13 }}/51	{{ matching_score_13 }} Rank: {{ matching_score_rank_13 }}/51	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/51	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/51
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_matcher_14 }}	{{ num_matches_filter_14 }}	{{ num_matches_geom_14 }}	{{ repeatability_14 }} Rank: {{ repeatability_rank_14 }}/51	{{ matching_score_14 }} Rank: {{ matching_score_rank_14 }}/51	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/51	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/51
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_matcher_15 }}	{{ num_matches_filter_15 }}	{{ num_matches_geom_15 }}	{{ repeatability_15 }} Rank: {{ repeatability_rank_15 }}/51	{{ matching_score_15 }} Rank: {{ matching_score_rank_15 }}/51	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/51	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/51
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_matcher_16 }}	{{ num_matches_filter_16 }}	{{ num_matches_geom_16 }}	{{ repeatability_16 }} Rank: {{ repeatability_rank_16 }}/51	{{ matching_score_16 }} Rank: {{ matching_score_rank_16 }}/51	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/51	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/51
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_matcher_17 }}	{{ num_matches_filter_17 }}	{{ num_matches_geom_17 }}	{{ repeatability_17 }} Rank: {{ repeatability_rank_17 }}/51	{{ matching_score_17 }} Rank: {{ matching_score_rank_17 }}/51	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/51	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/51
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_matcher_18 }}	{{ num_matches_filter_18 }}	{{ num_matches_geom_18 }}	{{ repeatability_18 }} Rank: {{ repeatability_rank_18 }}/51	{{ matching_score_18 }} Rank: {{ matching_score_rank_18 }}/51	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/51	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/51
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_matcher_19 }}	{{ num_matches_filter_19 }}	{{ num_matches_geom_19 }}	{{ repeatability_19 }} Rank: {{ repeatability_rank_19 }}/51	{{ matching_score_19 }} Rank: {{ matching_score_rank_19 }}/51	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/51	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/51
{{ scene_20 }}	{{ num_keypoints_20 }}	{{ num_matches_matcher_20 }}	{{ num_matches_filter_20 }}	{{ num_matches_geom_20 }}	{{ repeatability_20 }} Rank: {{ repeatability_rank_20 }}/51	{{ matching_score_20 }} Rank: {{ matching_score_rank_20 }}/51	{{ map5_20 }} (±{{ map5_std_20 }}) Rank: {{ map5_rank_20 }}/51	{{ map10_20 }} (±{{ map10_std_20 }}) Rank: {{ map10_rank_20 }}/51
Avg	8000.0	454.4	454.4	153.6	0.075 Rank: 38/51	0.027 Rank: 25/51	0.36143 (±0.00000) Rank: 32/51	0.48106 (±0.00000) Rank: 32/51

Prague Parks dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09201 over 3 scenes)
Rank (per category): 33 (of 51)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
Lizard	8000.0	558.53	82.30 Rank: 29/51	1701.37 Rank: 28/51	3.290 Rank: 22/51	14.16336 Rank: 26/51	0.42313 (±0.00000) Rank: 34/51	0.52848 (±0.00000) Rank: 33/51
Pond	8000.0	878.20	70.30 Rank: 17/51	2359.18 Rank: 17/51	2.908 Rank: 22/51	0.43318 Rank: 24/51	0.27293 (±0.00000) Rank: 15/51	0.30347 (±0.00000) Rank: 15/51
Tree	8000.0	457.90	70.53 Rank: 29/51	980.54 Rank: 29/51	2.803 Rank: 33/51	6.56816 Rank: 39/51	0.39473 (±0.00000) Rank: 30/51	0.42727 (±0.00000) Rank: 30/51
LB	7966.8	198.71	95.97 Rank: 45/51	1557.82 Rank: 43/51	4.410 Rank: 35/51	0.53147 Rank: 42/51	0.52717 (±0.00000) Rank: 45/51	0.65000 (±0.00000) Rank: 44/51
MC	7820.0	280.60	99.04 Rank: 43/51	2147.15 Rank: 48/51	4.700 Rank: 33/51	0.48190 Rank: 45/51	0.42731 (±0.00000) Rank: 45/51	0.58713 (±0.00000) Rank: 45/51
MR	7803.6	408.68	94.07 Rank: 32/51	3166.91 Rank: 43/51	4.405 Rank: 29/51	0.50403 Rank: 30/51	0.39887 (±0.00000) Rank: 35/51	0.51502 (±0.00000) Rank: 35/51
PSM	7786.1	166.28	88.55 Rank: 36/51	2573.25 Rank: 39/51	3.387 Rank: 31/51	0.55880 Rank: 32/51	0.40743 (±0.00000) Rank: 34/51	0.47861 (±0.00000) Rank: 34/51
SF	7858.1	364.04	94.76 Rank: 41/51	3570.69 Rank: 42/51	4.287 Rank: 38/51	0.33076 Rank: 34/51	0.65402 (±0.00000) Rank: 37/51	0.74358 (±0.00000) Rank: 37/51
SPC	7874.4	240.02	95.73 Rank: 42/51	2402.49 Rank: 42/51	4.216 Rank: 34/51	0.67739 Rank: 44/51	0.57374 (±0.00000) Rank: 42/51	0.68872 (±0.00000) Rank: 40/51
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_9 }}	{{ ratio_registered_cameras_9 }} Rank: {{ ratio_registered_cameras_rank_9 }}/51	{{ num_landmarks_9 }} Rank: {{ num_landmarks_rank_9 }}/51	{{ track_length_9 }} Rank: {{ track_length_rank_9 }}/51	{{ ate_9 }} Rank: {{ ate_rank_9 }}/51	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/51	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/51
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_10 }}	{{ ratio_registered_cameras_10 }} Rank: {{ ratio_registered_cameras_rank_10 }}/51	{{ num_landmarks_10 }} Rank: {{ num_landmarks_rank_10 }}/51	{{ track_length_10 }} Rank: {{ track_length_rank_10 }}/51	{{ ate_10 }} Rank: {{ ate_rank_10 }}/51	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/51	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/51
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_11 }}	{{ ratio_registered_cameras_11 }} Rank: {{ ratio_registered_cameras_rank_11 }}/51	{{ num_landmarks_11 }} Rank: {{ num_landmarks_rank_11 }}/51	{{ track_length_11 }} Rank: {{ track_length_rank_11 }}/51	{{ ate_11 }} Rank: {{ ate_rank_11 }}/51	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/51	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/51
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_12 }}	{{ ratio_registered_cameras_12 }} Rank: {{ ratio_registered_cameras_rank_12 }}/51	{{ num_landmarks_12 }} Rank: {{ num_landmarks_rank_12 }}/51	{{ track_length_12 }} Rank: {{ track_length_rank_12 }}/51	{{ ate_12 }} Rank: {{ ate_rank_12 }}/51	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/51	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/51
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_13 }}	{{ ratio_registered_cameras_13 }} Rank: {{ ratio_registered_cameras_rank_13 }}/51	{{ num_landmarks_13 }} Rank: {{ num_landmarks_rank_13 }}/51	{{ track_length_13 }} Rank: {{ track_length_rank_13 }}/51	{{ ate_13 }} Rank: {{ ate_rank_13 }}/51	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/51	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/51
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_14 }}	{{ ratio_registered_cameras_14 }} Rank: {{ ratio_registered_cameras_rank_14 }}/51	{{ num_landmarks_14 }} Rank: {{ num_landmarks_rank_14 }}/51	{{ track_length_14 }} Rank: {{ track_length_rank_14 }}/51	{{ ate_14 }} Rank: {{ ate_rank_14 }}/51	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/51	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/51
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_15 }}	{{ ratio_registered_cameras_15 }} Rank: {{ ratio_registered_cameras_rank_15 }}/51	{{ num_landmarks_15 }} Rank: {{ num_landmarks_rank_15 }}/51	{{ track_length_15 }} Rank: {{ track_length_rank_15 }}/51	{{ ate_15 }} Rank: {{ ate_rank_15 }}/51	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/51	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/51
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_16 }}	{{ ratio_registered_cameras_16 }} Rank: {{ ratio_registered_cameras_rank_16 }}/51	{{ num_landmarks_16 }} Rank: {{ num_landmarks_rank_16 }}/51	{{ track_length_16 }} Rank: {{ track_length_rank_16 }}/51	{{ ate_16 }} Rank: {{ ate_rank_16 }}/51	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/51	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/51
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_17 }}	{{ ratio_registered_cameras_17 }} Rank: {{ ratio_registered_cameras_rank_17 }}/51	{{ num_landmarks_17 }} Rank: {{ num_landmarks_rank_17 }}/51	{{ track_length_17 }} Rank: {{ track_length_rank_17 }}/51	{{ ate_17 }} Rank: {{ ate_rank_17 }}/51	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/51	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/51
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_18 }}	{{ ratio_registered_cameras_18 }} Rank: {{ ratio_registered_cameras_rank_18 }}/51	{{ num_landmarks_18 }} Rank: {{ num_landmarks_rank_18 }}/51	{{ track_length_18 }} Rank: {{ track_length_rank_18 }}/51	{{ ate_18 }} Rank: {{ ate_rank_18 }}/51	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/51	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/51
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_19 }}	{{ ratio_registered_cameras_19 }} Rank: {{ ratio_registered_cameras_rank_19 }}/51	{{ num_landmarks_19 }} Rank: {{ num_landmarks_rank_19 }}/51	{{ track_length_19 }} Rank: {{ track_length_rank_19 }}/51	{{ ate_19 }} Rank: {{ ate_rank_19 }}/51	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/51	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/51
SPC	{{ num_keypoints_20 }}	{{ num_matches_20 }}	{{ ratio_registered_cameras_20 }} Rank: 42/51	{{ num_landmarks_20 }} Rank: 42/51	{{ track_length_20 }} Rank: 34/51	{{ ate_20 }} Rank: 44/51	{{ map5_20 }} (±0.00000) Rank: 42/51	{{ map10_20 }} (±0.00000) Rank: 40/51
Avg	8000.0	631.54	74.38 Rank: 28/51	1680.37 Rank: 24/51	3.000 Rank: 27/51	7.05490 Rank: 37/51	0.36360 (±0.00000) Rank: 33/51	0.41974 (±0.00000) Rank: 33/51