LoFTR

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: Jiaming Sun, Xingyi He, Zehong Shen, Yuang Wang (contact)
• Keypoint: free
• Descriptor: free (128 float32: 512 bytes)
• Number of features: 8000
• Summary: Local feature transformer
• Paper: N/A
• Website: N/A
• Processing date: 21-06-09

Phototourism dataset / Stereo track

{
    "use_custom_matches": true,
    "custom_matches_name": "loftr",
    "geom": {
        "method": "cv2-8pt"
    }
}

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 dataset / Multiview track

{
    "use_custom_matches": true,
    "custom_matches_name": "loftr",
    "colmap": {}
}

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 10 images. 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 —

Prague Parks dataset / Stereo track

{
    "use_custom_matches": true,
    "custom_matches_name": "loftr",
    "geom": {
        "method": "cv2-8pt"
    }
}

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.

---

— Lizard —

— Pond —

— Tree —

Prague Parks dataset / Multiview track

{
    "use_custom_matches": true,
    "custom_matches_name": "loftr",
    "colmap": {}
}

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 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.

---

— Lizard —

— Pond —

— Tree —

Google Urban dataset / Stereo track

{
    "use_custom_matches": true,
    "custom_matches_name": "loftr",
    "geom": {
        "method": "cv2-8pt"
    }
}

We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.

---

— Amsterdam —

— Bangkok —

— Barcelona —

— Buenos Aires —

— Cambridge —

— Cannes —

— Chicago —

— Helsinki —

— Madrid —

— Mountain View —

— New Orleans —

— San Francisco —

— Singapore —

— Sydney —

— Tokyo —

— Toronto —

— Zurich —

Google Urban dataset / Multiview track

{
    "use_custom_matches": true,
    "custom_matches_name": "loftr",
    "colmap": {}
}

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 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.

---

— Amsterdam —

— Bangkok —

— Barcelona —

— Buenos Aires —

— Cambridge —

— Cannes —

— Chicago —

— Helsinki —

— Madrid —

— Mountain View —

— New Orleans —

— San Francisco —

— Singapore —

— Sydney —

— Tokyo —

— Toronto —

— Zurich —