Submission ID: b3d08932

MD-net

Processed: 21-12-29. Download link: b3d08932a4c5b5f6-md-net-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.

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

Metadata

Authors: Anonymous (to be released: 2021-6-18)
Keypoint: md-net-2k
Descriptor: md-net-2k (128 float32: 512 bytes)
Number of features: 2048
Summary: MD-net
Paper: N/A
Website: N/A
Processing date: 21-12-29

Phototourism dataset / Stereo track

mAA at 10 degrees: 0.46028 (±0.00000 over 1 run(s) / ±0.14766 over 9 scenes)
Rank (per category): 56 (of 87)

Scene	Features	Matches (raw)	Matches (filter)	Matches (final)	Rep. @ 3 px.	MS @ 3 px.	mAA(5^o)	mAA(10^o)
BM	2046.4	354.4	354.4	239.2	0.544 Rank: 18/87	0.925 Rank: 22/87	0.26168 (±0.00000) Rank: 48/87	0.39185 (±0.00000) Rank: 49/87
FCS	2043.7	347.5	347.5	228.4	0.404 Rank: 49/87	0.881 Rank: 12/87	0.52743 (±0.00000) Rank: 54/87	0.66285 (±0.00000) Rank: 54/87
LMS	2027.8	399.0	399.0	251.4	0.394 Rank: 50/87	0.700 Rank: 12/87	0.56062 (±0.00000) Rank: 36/87	0.69636 (±0.00000) Rank: 33/87
LB	2043.9	247.9	247.9	139.6	0.359 Rank: 65/87	0.735 Rank: 17/87	0.32688 (±0.00000) Rank: 48/87	0.44135 (±0.00000) Rank: 62/87
MC	2037.5	344.3	344.3	242.9	0.518 Rank: 18/87	0.933 Rank: 6/87	0.25571 (±0.00000) Rank: 48/87	0.40388 (±0.00000) Rank: 60/87
MR	2033.1	383.7	383.7	279.6	0.494 Rank: 3/87	0.943 Rank: 5/87	0.23098 (±0.00000) Rank: 45/87	0.32811 (±0.00000) Rank: 48/87
PSM	2027.2	271.3	271.3	171.5	0.377 Rank: 5/87	0.530 Rank: 61/87	0.11490 (±0.00000) Rank: 58/87	0.20735 (±0.00000) Rank: 60/87
SF	2040.2	383.8	383.8	276.1	0.441 Rank: 2/87	0.837 Rank: 6/87	0.42114 (±0.00000) Rank: 52/87	0.55888 (±0.00000) Rank: 49/87
SPC	2028.5	279.6	279.6	165.4	0.408 Rank: 26/87	0.812 Rank: 22/87	0.29949 (±0.00000) Rank: 68/87	0.45190 (±0.00000) Rank: 68/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_matcher_9 }}	{{ num_matches_filter_9 }}	{{ num_matches_geom_9 }}	{{ repeatability_9 }} Rank: {{ repeatability_rank_9 }}/87	{{ matching_score_9 }} Rank: {{ matching_score_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_matcher_10 }}	{{ num_matches_filter_10 }}	{{ num_matches_geom_10 }}	{{ repeatability_10 }} Rank: {{ repeatability_rank_10 }}/87	{{ matching_score_10 }} Rank: {{ matching_score_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_matcher_11 }}	{{ num_matches_filter_11 }}	{{ num_matches_geom_11 }}	{{ repeatability_11 }} Rank: {{ repeatability_rank_11 }}/87	{{ matching_score_11 }} Rank: {{ matching_score_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_matcher_12 }}	{{ num_matches_filter_12 }}	{{ num_matches_geom_12 }}	{{ repeatability_12 }} Rank: {{ repeatability_rank_12 }}/87	{{ matching_score_12 }} Rank: {{ matching_score_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_matcher_13 }}	{{ num_matches_filter_13 }}	{{ num_matches_geom_13 }}	{{ repeatability_13 }} Rank: {{ repeatability_rank_13 }}/87	{{ matching_score_13 }} Rank: {{ matching_score_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_matcher_14 }}	{{ num_matches_filter_14 }}	{{ num_matches_geom_14 }}	{{ repeatability_14 }} Rank: {{ repeatability_rank_14 }}/87	{{ matching_score_14 }} Rank: {{ matching_score_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_matcher_15 }}	{{ num_matches_filter_15 }}	{{ num_matches_geom_15 }}	{{ repeatability_15 }} Rank: {{ repeatability_rank_15 }}/87	{{ matching_score_15 }} Rank: {{ matching_score_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_matcher_16 }}	{{ num_matches_filter_16 }}	{{ num_matches_geom_16 }}	{{ repeatability_16 }} Rank: {{ repeatability_rank_16 }}/87	{{ matching_score_16 }} Rank: {{ matching_score_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_matcher_17 }}	{{ num_matches_filter_17 }}	{{ num_matches_geom_17 }}	{{ repeatability_17 }} Rank: {{ repeatability_rank_17 }}/87	{{ matching_score_17 }} Rank: {{ matching_score_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_matcher_18 }}	{{ num_matches_filter_18 }}	{{ num_matches_geom_18 }}	{{ repeatability_18 }} Rank: {{ repeatability_rank_18 }}/87	{{ matching_score_18 }} Rank: {{ matching_score_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_matcher_19 }}	{{ num_matches_filter_19 }}	{{ num_matches_geom_19 }}	{{ repeatability_19 }} Rank: {{ repeatability_rank_19 }}/87	{{ matching_score_19 }} Rank: {{ matching_score_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
{{ scene_20 }}	{{ num_keypoints_20 }}	{{ num_matches_matcher_20 }}	{{ num_matches_filter_20 }}	{{ num_matches_geom_20 }}	{{ repeatability_20 }} Rank: {{ repeatability_rank_20 }}/87	{{ matching_score_20 }} Rank: {{ matching_score_rank_20 }}/87	{{ map5_20 }} (±{{ map5_std_20 }}) Rank: {{ map5_rank_20 }}/87	{{ map10_20 }} (±{{ map10_std_20 }}) Rank: {{ map10_rank_20 }}/87
Avg	2036.5	334.6	334.6	221.6	0.438 Rank: 15/87	0.811 Rank: 13/87	0.33320 (±0.00000) Rank: 56/87	0.46028 (±0.00000) Rank: 56/87

Phototourism dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12529 over 9 scenes)
Rank (per category): 59 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
BM	2046.4	353.13	100.00 Rank: 1/87	1087.12 Rank: 67/87	5.017 Rank: 27/87	0.43419 Rank: 48/87	0.51305 (±0.00000) Rank: 47/87	0.65379 (±0.00000) Rank: 48/87
FCS	2043.7	358.94	97.17 Rank: 52/87	1640.05 Rank: 67/87	4.493 Rank: 62/87	0.25829 Rank: 49/87	0.71067 (±0.00000) Rank: 54/87	0.77404 (±0.00000) Rank: 58/87
LMS	2027.8	421.33	99.27 Rank: 38/87	1466.56 Rank: 53/87	4.908 Rank: 71/87	0.32377 Rank: 64/87	0.84626 (±0.00000) Rank: 29/87	0.89712 (±0.00000) Rank: 30/87
LB	2043.9	283.04	97.63 Rank: 60/87	1035.70 Rank: 71/87	4.698 Rank: 64/87	0.50096 Rank: 57/87	0.60657 (±0.00000) Rank: 65/87	0.71862 (±0.00000) Rank: 65/87
MC	2037.5	340.16	99.87 Rank: 50/87	1209.51 Rank: 67/87	5.190 Rank: 25/87	0.42785 Rank: 64/87	0.46788 (±0.00000) Rank: 65/87	0.62046 (±0.00000) Rank: 63/87
MR	2033.1	383.88	93.40 Rank: 53/87	1455.45 Rank: 59/87	4.729 Rank: 40/87	0.50443 Rank: 25/87	0.42842 (±0.00000) Rank: 30/87	0.54745 (±0.00000) Rank: 32/87
PSM	2027.2	270.71	95.31 Rank: 51/87	1874.15 Rank: 58/87	3.403 Rank: 61/87	0.56281 Rank: 59/87	0.38101 (±0.00000) Rank: 63/87	0.47269 (±0.00000) Rank: 62/87
SF	2040.2	379.63	97.29 Rank: 55/87	1711.30 Rank: 67/87	4.854 Rank: 50/87	0.30161 Rank: 46/87	0.71245 (±0.00000) Rank: 54/87	0.79591 (±0.00000) Rank: 55/87
SPC	2028.5	286.55	99.19 Rank: 57/87	1273.73 Rank: 67/87	4.547 Rank: 63/87	0.43879 Rank: 30/87	0.65075 (±0.00000) Rank: 66/87	0.76567 (±0.00000) Rank: 65/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_9 }}	{{ ratio_registered_cameras_9 }} Rank: {{ ratio_registered_cameras_rank_9 }}/87	{{ num_landmarks_9 }} Rank: {{ num_landmarks_rank_9 }}/87	{{ track_length_9 }} Rank: {{ track_length_rank_9 }}/87	{{ ate_9 }} Rank: {{ ate_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_10 }}	{{ ratio_registered_cameras_10 }} Rank: {{ ratio_registered_cameras_rank_10 }}/87	{{ num_landmarks_10 }} Rank: {{ num_landmarks_rank_10 }}/87	{{ track_length_10 }} Rank: {{ track_length_rank_10 }}/87	{{ ate_10 }} Rank: {{ ate_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_11 }}	{{ ratio_registered_cameras_11 }} Rank: {{ ratio_registered_cameras_rank_11 }}/87	{{ num_landmarks_11 }} Rank: {{ num_landmarks_rank_11 }}/87	{{ track_length_11 }} Rank: {{ track_length_rank_11 }}/87	{{ ate_11 }} Rank: {{ ate_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_12 }}	{{ ratio_registered_cameras_12 }} Rank: {{ ratio_registered_cameras_rank_12 }}/87	{{ num_landmarks_12 }} Rank: {{ num_landmarks_rank_12 }}/87	{{ track_length_12 }} Rank: {{ track_length_rank_12 }}/87	{{ ate_12 }} Rank: {{ ate_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_13 }}	{{ ratio_registered_cameras_13 }} Rank: {{ ratio_registered_cameras_rank_13 }}/87	{{ num_landmarks_13 }} Rank: {{ num_landmarks_rank_13 }}/87	{{ track_length_13 }} Rank: {{ track_length_rank_13 }}/87	{{ ate_13 }} Rank: {{ ate_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_14 }}	{{ ratio_registered_cameras_14 }} Rank: {{ ratio_registered_cameras_rank_14 }}/87	{{ num_landmarks_14 }} Rank: {{ num_landmarks_rank_14 }}/87	{{ track_length_14 }} Rank: {{ track_length_rank_14 }}/87	{{ ate_14 }} Rank: {{ ate_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_15 }}	{{ ratio_registered_cameras_15 }} Rank: {{ ratio_registered_cameras_rank_15 }}/87	{{ num_landmarks_15 }} Rank: {{ num_landmarks_rank_15 }}/87	{{ track_length_15 }} Rank: {{ track_length_rank_15 }}/87	{{ ate_15 }} Rank: {{ ate_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_16 }}	{{ ratio_registered_cameras_16 }} Rank: {{ ratio_registered_cameras_rank_16 }}/87	{{ num_landmarks_16 }} Rank: {{ num_landmarks_rank_16 }}/87	{{ track_length_16 }} Rank: {{ track_length_rank_16 }}/87	{{ ate_16 }} Rank: {{ ate_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_17 }}	{{ ratio_registered_cameras_17 }} Rank: {{ ratio_registered_cameras_rank_17 }}/87	{{ num_landmarks_17 }} Rank: {{ num_landmarks_rank_17 }}/87	{{ track_length_17 }} Rank: {{ track_length_rank_17 }}/87	{{ ate_17 }} Rank: {{ ate_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_18 }}	{{ ratio_registered_cameras_18 }} Rank: {{ ratio_registered_cameras_rank_18 }}/87	{{ num_landmarks_18 }} Rank: {{ num_landmarks_rank_18 }}/87	{{ track_length_18 }} Rank: {{ track_length_rank_18 }}/87	{{ ate_18 }} Rank: {{ ate_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_19 }}	{{ ratio_registered_cameras_19 }} Rank: {{ ratio_registered_cameras_rank_19 }}/87	{{ num_landmarks_19 }} Rank: {{ num_landmarks_rank_19 }}/87	{{ track_length_19 }} Rank: {{ track_length_rank_19 }}/87	{{ ate_19 }} Rank: {{ ate_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
SPC	{{ num_keypoints_20 }}	{{ num_matches_20 }}	{{ ratio_registered_cameras_20 }} Rank: 57/87	{{ num_landmarks_20 }} Rank: 67/87	{{ track_length_20 }} Rank: 63/87	{{ ate_20 }} Rank: 30/87	{{ map5_20 }} (±0.00000) Rank: 66/87	{{ map10_20 }} (±0.00000) Rank: 65/87
Avg	2036.5	341.93	97.68 Rank: 55/87	1417.06 Rank: 64/87	4.649 Rank: 59/87	0.41697 Rank: 52/87	0.59078 (±0.00000) Rank: 61/87	0.69397 (±0.00000) Rank: 59/87

Prague Parks dataset / Stereo track

mAA at 10 degrees: 0.57921 (±0.00000 over 1 run(s) / ±0.08056 over 3 scenes)
Rank (per category): 48 (of 87)

Scene	Features	Matches (raw)	Matches (filter)	Matches (final)	Rep. @ 3 px.	MS @ 3 px.	mAA(5^o)	mAA(10^o)
Lizard	2048.0	296.7	296.7	163.1	0.024 Rank: 73/87	0.009 Rank: 47/87	0.40499 (±0.00000) Rank: 49/87	0.51207 (±0.00000) Rank: 49/87
Pond	2048.0	355.0	355.0	183.1	0.048 Rank: 56/87	0.051 Rank: 21/87	0.42725 (±0.00000) Rank: 51/87	0.53307 (±0.00000) Rank: 55/87
Tree	2048.0	285.0	285.0	137.2	0.028 Rank: 68/87	0.021 Rank: 47/87	0.58675 (±0.00000) Rank: 45/87	0.69249 (±0.00000) Rank: 44/87
LB	2043.9	247.9	247.9	139.6	0.359 Rank: 65/87	0.735 Rank: 17/87	0.32688 (±0.00000) Rank: 49/87	0.44135 (±0.00000) Rank: 62/87
MC	2037.5	344.3	344.3	242.9	0.518 Rank: 18/87	0.933 Rank: 6/87	0.25571 (±0.00000) Rank: 49/87	0.40388 (±0.00000) Rank: 60/87
MR	2033.1	383.7	383.7	279.6	0.494 Rank: 3/87	0.943 Rank: 5/87	0.23098 (±0.00000) Rank: 45/87	0.32811 (±0.00000) Rank: 48/87
PSM	2027.2	271.3	271.3	171.5	0.377 Rank: 5/87	0.530 Rank: 61/87	0.11490 (±0.00000) Rank: 58/87	0.20735 (±0.00000) Rank: 60/87
SF	2040.2	383.8	383.8	276.1	0.441 Rank: 2/87	0.837 Rank: 6/87	0.42114 (±0.00000) Rank: 52/87	0.55888 (±0.00000) Rank: 49/87
SPC	2028.5	279.6	279.6	165.4	0.408 Rank: 26/87	0.812 Rank: 22/87	0.29949 (±0.00000) Rank: 68/87	0.45190 (±0.00000) Rank: 68/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_matcher_9 }}	{{ num_matches_filter_9 }}	{{ num_matches_geom_9 }}	{{ repeatability_9 }} Rank: {{ repeatability_rank_9 }}/87	{{ matching_score_9 }} Rank: {{ matching_score_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_matcher_10 }}	{{ num_matches_filter_10 }}	{{ num_matches_geom_10 }}	{{ repeatability_10 }} Rank: {{ repeatability_rank_10 }}/87	{{ matching_score_10 }} Rank: {{ matching_score_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_matcher_11 }}	{{ num_matches_filter_11 }}	{{ num_matches_geom_11 }}	{{ repeatability_11 }} Rank: {{ repeatability_rank_11 }}/87	{{ matching_score_11 }} Rank: {{ matching_score_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_matcher_12 }}	{{ num_matches_filter_12 }}	{{ num_matches_geom_12 }}	{{ repeatability_12 }} Rank: {{ repeatability_rank_12 }}/87	{{ matching_score_12 }} Rank: {{ matching_score_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_matcher_13 }}	{{ num_matches_filter_13 }}	{{ num_matches_geom_13 }}	{{ repeatability_13 }} Rank: {{ repeatability_rank_13 }}/87	{{ matching_score_13 }} Rank: {{ matching_score_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_matcher_14 }}	{{ num_matches_filter_14 }}	{{ num_matches_geom_14 }}	{{ repeatability_14 }} Rank: {{ repeatability_rank_14 }}/87	{{ matching_score_14 }} Rank: {{ matching_score_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_matcher_15 }}	{{ num_matches_filter_15 }}	{{ num_matches_geom_15 }}	{{ repeatability_15 }} Rank: {{ repeatability_rank_15 }}/87	{{ matching_score_15 }} Rank: {{ matching_score_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_matcher_16 }}	{{ num_matches_filter_16 }}	{{ num_matches_geom_16 }}	{{ repeatability_16 }} Rank: {{ repeatability_rank_16 }}/87	{{ matching_score_16 }} Rank: {{ matching_score_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_matcher_17 }}	{{ num_matches_filter_17 }}	{{ num_matches_geom_17 }}	{{ repeatability_17 }} Rank: {{ repeatability_rank_17 }}/87	{{ matching_score_17 }} Rank: {{ matching_score_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_matcher_18 }}	{{ num_matches_filter_18 }}	{{ num_matches_geom_18 }}	{{ repeatability_18 }} Rank: {{ repeatability_rank_18 }}/87	{{ matching_score_18 }} Rank: {{ matching_score_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_matcher_19 }}	{{ num_matches_filter_19 }}	{{ num_matches_geom_19 }}	{{ repeatability_19 }} Rank: {{ repeatability_rank_19 }}/87	{{ matching_score_19 }} Rank: {{ matching_score_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
{{ scene_20 }}	{{ num_keypoints_20 }}	{{ num_matches_matcher_20 }}	{{ num_matches_filter_20 }}	{{ num_matches_geom_20 }}	{{ repeatability_20 }} Rank: {{ repeatability_rank_20 }}/87	{{ matching_score_20 }} Rank: {{ matching_score_rank_20 }}/87	{{ map5_20 }} (±{{ map5_std_20 }}) Rank: {{ map5_rank_20 }}/87	{{ map10_20 }} (±{{ map10_std_20 }}) Rank: {{ map10_rank_20 }}/87
Avg	2048.0	312.2	312.2	161.1	0.033 Rank: 71/87	0.027 Rank: 30/87	0.47300 (±0.00000) Rank: 44/87	0.57921 (±0.00000) Rank: 48/87

Prague Parks dataset / Multiview track

mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14130 over 3 scenes)
Rank (per category): 55 (of 87)

Scene	Features	Matches (input)	Registration Ratio (%)	Number of Landmarks	Track Length	ATE	mAA(5⁰)	mAA(10⁰)
Lizard	2048.0	321.72	83.83 Rank: 51/87	610.43 Rank: 62/87	3.483 Rank: 4/87	14.15553 Rank: 31/87	0.53987 (±0.00000) Rank: 52/87	0.62178 (±0.00000) Rank: 54/87
Pond	2048.0	442.43	71.43 Rank: 5/87	911.19 Rank: 29/87	3.054 Rank: 12/87	0.42536 Rank: 32/87	0.25384 (±0.00000) Rank: 53/87	0.27582 (±0.00000) Rank: 60/87
Tree	2048.0	318.59	71.52 Rank: 28/87	459.44 Rank: 47/87	3.048 Rank: 17/87	5.95583 Rank: 27/87	0.42076 (±0.00000) Rank: 42/87	0.45762 (±0.00000) Rank: 42/87
LB	2043.9	283.04	97.63 Rank: 60/87	1035.70 Rank: 71/87	4.698 Rank: 64/87	0.50096 Rank: 57/87	0.60657 (±0.00000) Rank: 65/87	0.71862 (±0.00000) Rank: 65/87
MC	2037.5	340.16	99.87 Rank: 50/87	1209.51 Rank: 67/87	5.190 Rank: 25/87	0.42785 Rank: 64/87	0.46788 (±0.00000) Rank: 65/87	0.62046 (±0.00000) Rank: 63/87
MR	2033.1	383.88	93.40 Rank: 53/87	1455.45 Rank: 59/87	4.729 Rank: 40/87	0.50443 Rank: 25/87	0.42842 (±0.00000) Rank: 30/87	0.54745 (±0.00000) Rank: 32/87
PSM	2027.2	270.71	95.31 Rank: 51/87	1874.15 Rank: 58/87	3.403 Rank: 61/87	0.56281 Rank: 59/87	0.38101 (±0.00000) Rank: 63/87	0.47269 (±0.00000) Rank: 62/87
SF	2040.2	379.63	97.29 Rank: 55/87	1711.30 Rank: 67/87	4.854 Rank: 50/87	0.30161 Rank: 46/87	0.71245 (±0.00000) Rank: 54/87	0.79591 (±0.00000) Rank: 55/87
SPC	2028.5	286.55	99.19 Rank: 57/87	1273.73 Rank: 67/87	4.547 Rank: 63/87	0.43879 Rank: 30/87	0.65075 (±0.00000) Rank: 66/87	0.76567 (±0.00000) Rank: 65/87
{{ scene_9 }}	{{ num_keypoints_9 }}	{{ num_matches_9 }}	{{ ratio_registered_cameras_9 }} Rank: {{ ratio_registered_cameras_rank_9 }}/87	{{ num_landmarks_9 }} Rank: {{ num_landmarks_rank_9 }}/87	{{ track_length_9 }} Rank: {{ track_length_rank_9 }}/87	{{ ate_9 }} Rank: {{ ate_rank_9 }}/87	{{ map5_9 }} (±{{ map5_std_9 }}) Rank: {{ map5_rank_9 }}/87	{{ map10_9 }} (±{{ map10_std_9 }}) Rank: {{ map10_rank_9 }}/87
{{ scene_10 }}	{{ num_keypoints_10 }}	{{ num_matches_10 }}	{{ ratio_registered_cameras_10 }} Rank: {{ ratio_registered_cameras_rank_10 }}/87	{{ num_landmarks_10 }} Rank: {{ num_landmarks_rank_10 }}/87	{{ track_length_10 }} Rank: {{ track_length_rank_10 }}/87	{{ ate_10 }} Rank: {{ ate_rank_10 }}/87	{{ map5_10 }} (±{{ map5_std_10 }}) Rank: {{ map5_rank_10 }}/87	{{ map10_10 }} (±{{ map10_std_10 }}) Rank: {{ map10_rank_10 }}/87
{{ scene_11 }}	{{ num_keypoints_11 }}	{{ num_matches_11 }}	{{ ratio_registered_cameras_11 }} Rank: {{ ratio_registered_cameras_rank_11 }}/87	{{ num_landmarks_11 }} Rank: {{ num_landmarks_rank_11 }}/87	{{ track_length_11 }} Rank: {{ track_length_rank_11 }}/87	{{ ate_11 }} Rank: {{ ate_rank_11 }}/87	{{ map5_11 }} (±{{ map5_std_11 }}) Rank: {{ map5_rank_11 }}/87	{{ map10_11 }} (±{{ map10_std_11 }}) Rank: {{ map10_rank_11 }}/87
{{ scene_12 }}	{{ num_keypoints_12 }}	{{ num_matches_12 }}	{{ ratio_registered_cameras_12 }} Rank: {{ ratio_registered_cameras_rank_12 }}/87	{{ num_landmarks_12 }} Rank: {{ num_landmarks_rank_12 }}/87	{{ track_length_12 }} Rank: {{ track_length_rank_12 }}/87	{{ ate_12 }} Rank: {{ ate_rank_12 }}/87	{{ map5_12 }} (±{{ map5_std_12 }}) Rank: {{ map5_rank_12 }}/87	{{ map10_12 }} (±{{ map10_std_12 }}) Rank: {{ map10_rank_12 }}/87
{{ scene_13 }}	{{ num_keypoints_13 }}	{{ num_matches_13 }}	{{ ratio_registered_cameras_13 }} Rank: {{ ratio_registered_cameras_rank_13 }}/87	{{ num_landmarks_13 }} Rank: {{ num_landmarks_rank_13 }}/87	{{ track_length_13 }} Rank: {{ track_length_rank_13 }}/87	{{ ate_13 }} Rank: {{ ate_rank_13 }}/87	{{ map5_13 }} (±{{ map5_std_13 }}) Rank: {{ map5_rank_13 }}/87	{{ map10_13 }} (±{{ map10_std_13 }}) Rank: {{ map10_rank_13 }}/87
{{ scene_14 }}	{{ num_keypoints_14 }}	{{ num_matches_14 }}	{{ ratio_registered_cameras_14 }} Rank: {{ ratio_registered_cameras_rank_14 }}/87	{{ num_landmarks_14 }} Rank: {{ num_landmarks_rank_14 }}/87	{{ track_length_14 }} Rank: {{ track_length_rank_14 }}/87	{{ ate_14 }} Rank: {{ ate_rank_14 }}/87	{{ map5_14 }} (±{{ map5_std_14 }}) Rank: {{ map5_rank_14 }}/87	{{ map10_14 }} (±{{ map10_std_14 }}) Rank: {{ map10_rank_14 }}/87
{{ scene_15 }}	{{ num_keypoints_15 }}	{{ num_matches_15 }}	{{ ratio_registered_cameras_15 }} Rank: {{ ratio_registered_cameras_rank_15 }}/87	{{ num_landmarks_15 }} Rank: {{ num_landmarks_rank_15 }}/87	{{ track_length_15 }} Rank: {{ track_length_rank_15 }}/87	{{ ate_15 }} Rank: {{ ate_rank_15 }}/87	{{ map5_15 }} (±{{ map5_std_15 }}) Rank: {{ map5_rank_15 }}/87	{{ map10_15 }} (±{{ map10_std_15 }}) Rank: {{ map10_rank_15 }}/87
{{ scene_16 }}	{{ num_keypoints_16 }}	{{ num_matches_16 }}	{{ ratio_registered_cameras_16 }} Rank: {{ ratio_registered_cameras_rank_16 }}/87	{{ num_landmarks_16 }} Rank: {{ num_landmarks_rank_16 }}/87	{{ track_length_16 }} Rank: {{ track_length_rank_16 }}/87	{{ ate_16 }} Rank: {{ ate_rank_16 }}/87	{{ map5_16 }} (±{{ map5_std_16 }}) Rank: {{ map5_rank_16 }}/87	{{ map10_16 }} (±{{ map10_std_16 }}) Rank: {{ map10_rank_16 }}/87
{{ scene_17 }}	{{ num_keypoints_17 }}	{{ num_matches_17 }}	{{ ratio_registered_cameras_17 }} Rank: {{ ratio_registered_cameras_rank_17 }}/87	{{ num_landmarks_17 }} Rank: {{ num_landmarks_rank_17 }}/87	{{ track_length_17 }} Rank: {{ track_length_rank_17 }}/87	{{ ate_17 }} Rank: {{ ate_rank_17 }}/87	{{ map5_17 }} (±{{ map5_std_17 }}) Rank: {{ map5_rank_17 }}/87	{{ map10_17 }} (±{{ map10_std_17 }}) Rank: {{ map10_rank_17 }}/87
{{ scene_18 }}	{{ num_keypoints_18 }}	{{ num_matches_18 }}	{{ ratio_registered_cameras_18 }} Rank: {{ ratio_registered_cameras_rank_18 }}/87	{{ num_landmarks_18 }} Rank: {{ num_landmarks_rank_18 }}/87	{{ track_length_18 }} Rank: {{ track_length_rank_18 }}/87	{{ ate_18 }} Rank: {{ ate_rank_18 }}/87	{{ map5_18 }} (±{{ map5_std_18 }}) Rank: {{ map5_rank_18 }}/87	{{ map10_18 }} (±{{ map10_std_18 }}) Rank: {{ map10_rank_18 }}/87
{{ scene_19 }}	{{ num_keypoints_19 }}	{{ num_matches_19 }}	{{ ratio_registered_cameras_19 }} Rank: {{ ratio_registered_cameras_rank_19 }}/87	{{ num_landmarks_19 }} Rank: {{ num_landmarks_rank_19 }}/87	{{ track_length_19 }} Rank: {{ track_length_rank_19 }}/87	{{ ate_19 }} Rank: {{ ate_rank_19 }}/87	{{ map5_19 }} (±{{ map5_std_19 }}) Rank: {{ map5_rank_19 }}/87	{{ map10_19 }} (±{{ map10_std_19 }}) Rank: {{ map10_rank_19 }}/87
SPC	{{ num_keypoints_20 }}	{{ num_matches_20 }}	{{ ratio_registered_cameras_20 }} Rank: 57/87	{{ num_landmarks_20 }} Rank: 67/87	{{ track_length_20 }} Rank: 63/87	{{ ate_20 }} Rank: 30/87	{{ map5_20 }} (±0.00000) Rank: 66/87	{{ map10_20 }} (±0.00000) Rank: 65/87
Avg	2048.0	360.91	75.60 Rank: 12/87	660.35 Rank: 52/87	3.195 Rank: 9/87	6.84557 Rank: 26/87	0.40482 (±0.00000) Rank: 50/87	0.45174 (±0.00000) Rank: 55/87