Homography Estimation on HPatches (Pixel Accuracy Thresholds)
65Overall Accuracy (< 1px)LoFTR
Evaluation results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| LoFTRAsym?=✗, # params (online model)=28M, # params (offline model)=28M, GFLOPs (inference on 1 image)=223, Backbone=Reference Model2026.04 | 65 | 87 | — | — | — | — | — | — | — | |
| SiLK (Teacher)Asym?=✗, # params (online model)=1M, # params (offline model)=1M, GFLOPs (inference on 1 image)=47.3, Backbone=Oracle Teacher Performance, Teacher Architecture=SiLK2026.04 | 62 | 86 | — | — | — | — | — | — | — | |
| AsymLocAsym?=✓, # params (online model)=0.13M, # params (offline model)=1M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 60 | 84 | — | — | — | — | — | — | — | |
| AsymLocAsym?=✓, # params (online model)=0.08M, # params (offline model)=1M, GFLOPs (inference on 1 image)=4.87, Backbone=0.08M, Teacher Architecture=SiLK2026.04 | 59 | 83 | — | — | — | — | — | — | — | |
| CLIDD-G128Model Complexity Category=Standard2026.01 | 58.15 | 85 | 91.11 | — | — | — | — | — | — | |
| AsymLocAsym?=✓, # params (online model)=0.06M, # params (offline model)=1M, GFLOPs (inference on 1 image)=3.27, Backbone=0.06M, Teacher Architecture=SiLK2026.04 | 58 | 83 | — | — | — | — | — | — | — | |
| CLIDD-E128Model Complexity Category=Standard2026.01 | 57.04 | 84.63 | 92.04 | — | — | — | — | — | — | |
| Naive distillation (Asym)Asym?=✓, # params (online model)=0.13M, # params (offline model)=1M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 57 | 80 | — | — | — | — | — | — | — | |
| AMLAsym?=✓, # params (online model)=0.13M, # params (offline model)=1M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 57 | 81 | — | — | — | — | — | — | — | |
| CSDAsym?=✓, # params (online model)=0.13M, # params (offline model)=1M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 57 | 83 | — | — | — | — | — | — | — | |
| D3stillAsym?=✓, # params (online model)=0.13M, # params (offline model)=1M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 57 | 82 | — | — | — | — | — | — | — | |
| CLIDD-U128Model Complexity Category=Standard2026.01 | 56.85 | 86.3 | 90.74 | — | — | — | — | — | — | |
| AWDesc-T32Model Complexity Category=Standard2026.01 | 56.67 | 85.19 | 90.37 | — | — | — | — | — | — | |
| CLIDD-M64Model Complexity Category=Compact2026.01 | 56.11 | 84.81 | 91.11 | — | — | — | — | — | — | |
| StandardAsym?=✗, # params (online model)=0.13M, # params (offline model)=0.13M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 56 | 80 | — | — | — | — | — | — | — | |
| Naive distillation (Symm)Asym?=✗, # params (online model)=0.13M, # params (offline model)=0.13M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 56 | 79 | — | — | — | — | — | — | — | |
| RKDAsym?=✓, # params (online model)=0.13M, # params (offline model)=1M, GFLOPs (inference on 1 image)=6.6, Backbone=0.13M, Teacher Architecture=SiLK2026.04 | 56 | 81 | — | — | — | — | — | — | — | |
| AsymLocAsym?=✓, # params (online model)=0.04M, # params (offline model)=1M, GFLOPs (inference on 1 image)=1.97, Backbone=0.04M, Teacher Architecture=SiLK2026.04 | 56 | 82 | — | — | — | — | — | — | — | |
| DeDoDe-GModel Complexity Category=Standard2026.01 | 55.93 | 83.33 | 90.93 | — | — | — | — | — | — | |
| DeDoDe-BModel Complexity Category=Standard2026.01 | 55.56 | 83.33 | 89.44 | — | — | — | — | — | — | |
| CLIDD-L64Model Complexity Category=Compact2026.01 | 55.37 | 84.44 | 92.04 | — | — | — | — | — | — | |
| StandardAsym?=✗, # params (online model)=0.08M, # params (offline model)=0.08M, GFLOPs (inference on 1 image)=4.87, Backbone=0.08M, Teacher Architecture=SiLK2026.04 | 55 | 79 | — | — | — | — | — | — | — | |
| CLIDD-N64Model Complexity Category=Compact2026.01 | 54.63 | 81.85 | 88.89 | — | — | — | — | — | — | |
| CLIDD-S64Model Complexity Category=Compact2026.01 | 54.07 | 84.81 | 91.11 | — | — | — | — | — | — | |
| AWDesc-CAModel Complexity Category=Standard2026.01 | 54.07 | 85 | 92.41 | — | — | — | — | — | — | |
| AWDesc-T16Model Complexity Category=Standard2026.01 | 53.89 | 83.33 | 90.56 | — | — | — | — | — | — | |
| EdgePoint2-M64Model Complexity Category=Compact2026.01 | 53.7 | 82.96 | 89.63 | — | — | — | — | — | — | |
| EdgePoint2-E64Model Complexity Category=Compact2026.01 | 53.33 | 82.78 | 90.56 | — | — | — | — | — | — | |
| CLIDD-T64Model Complexity Category=Compact2026.01 | 52.22 | 84.26 | 90.93 | — | — | — | — | — | — | |
| SGMNetLocal Features=SuperPoint2022.04 | 52 | 85 | 91 | 59 | 94 | 98 | 46 | 74 | 84 | |
| ClusterGNNLocal Features=SuperPoint2022.04 | 52 | 84 | 90 | 61 | 93 | 98 | 44 | 74 | 81 | |
| StandardAsym?=✗, # params (online model)=0.06M, # params (offline model)=0.06M, GFLOPs (inference on 1 image)=3.27, Backbone=0.06M, Teacher Architecture=SiLK2026.04 | 52 | 76 | — | — | — | — | — | — | — | |
| ALIKED-N16Model Complexity Category=Standard2026.01 | 51.67 | 83.89 | 90.37 | — | — | — | — | — | — | |
| DISKModel Complexity Category=Standard2026.01 | 51.3 | 79.44 | 88.33 | — | — | — | — | — | — | |
| SuperGlueLocal Features=SuperPoint2022.04 | 51 | 83 | 89 | 61 | 93 | 98 | 45 | 73 | 83 | |
| ClusterGNNLocal Features=ASLFeat2022.04 | 51 | 83 | 89 | 61 | 95 | 98 | 42 | 72 | 82 | |
| ALIKED-T16Model Complexity Category=Compact2026.01 | 50.74 | 83.89 | 90.56 | — | — | — | — | — | — | |
| ALIKED-N32Model Complexity Category=Standard2026.01 | 50.37 | 83.52 | 90.74 | — | — | — | — | — | — | |
| EdgePoint2-T48Model Complexity Category=Compact2026.01 | 50.19 | 81.48 | 88.89 | — | — | — | — | — | — | |
| AdaMatcher-ASpanCategory=Detector-free2022.07 | 50 | 75 | 84 | — | — | — | — | — | — | |
| CLIDD-A48Model Complexity Category=Compact2026.01 | 49.81 | 82.22 | 88.89 | — | — | — | — | — | — | |
| SuperPointModel Complexity Category=Standard2026.01 | 49.81 | 81.48 | 88.89 | — | — | — | — | — | — | |
| SGMNetLocal Features=ASLFeat2022.04 | 49 | 82 | 89 | 57 | 93 | 98 | 41 | 72 | 83 | |
| SuperGlueLocal Features=ASLFeat2022.04 | 49 | 83 | 89 | 57 | 92 | 98 | 41 | 72 | 81 | |
| AdaMatcher-LOFTRCategory=Detector-free2022.07 | 49 | 75 | 83 | — | — | — | — | — | — | |
| StandardAsym?=✗, # params (online model)=0.04M, # params (offline model)=0.04M, GFLOPs (inference on 1 image)=1.97, Backbone=0.04M, Teacher Architecture=SiLK2026.04 | 49 | 72 | — | — | — | — | — | — | — | |
| NNLocal Features=ASLFeat2022.04 | 48 | 81 | 88 | 57 | 92 | 97 | 34 | 68 | 78 | |
| QuadTreeCategory=Detector-free2022.07 | 48 | 70 | 81 | — | — | — | — | — | — | |
| EdgePointModel Complexity Category=Compact2026.01 | 47.96 | 78.89 | 87.04 | — | — | — | — | — | — | |
| XFeatModel Complexity Category=Compact2026.01 | 47.04 | 80.19 | 89.07 | — | — | — | — | — | — | |
| AdaMatcher-QuadCategory=Detector-free2022.07 | 47 | 75 | 83 | — | — | — | — | — | — | |
| SuperPoint + LightGlueAsym?=✗, # params (online model)=14M, # params (offline model)=14M, GFLOPs (inference on 1 image)=63.3, Backbone=Reference Model2026.04 | 47 | 82 | — | — | — | — | — | — | — | |
| NNLocal Features=SuperPoint2022.04 | 46 | 78 | 85 | 57 | 92 | 97 | 35 | 65 | 74 | |
| ASpanFormerCategory=Detector-free2022.07 | 46 | 72 | 82 | — | — | — | — | — | — | |
| DIFT_sdGeometric Supervision=None, Keypoints=SuperPoint2023.06 | 45.6 | 73.9 | 83.1 | — | — | — | — | — | — | |
| CAPSGeometric Supervision=Weak, Keypoints=SuperPoint2023.06 | 44.8 | 76.3 | 85.2 | — | — | — | — | — | — | |
| LOFTR-DSCategory=Detector-free2022.07 | 44 | 73 | 82 | — | — | — | — | — | — | |
| DIFT_admGeometric Supervision=None, Keypoints=SuperPoint2023.06 | 43.7 | 73.1 | 84.8 | — | — | — | — | — | — | |
| SuperPoint (Teacher)Asym?=✗, # params (online model)=1.3M, # params (offline model)=1.3M, GFLOPs (inference on 1 image)=26.1, Backbone=Oracle Teacher Performance, Teacher Architecture=SuperPoint2026.04 | 43 | 80 | — | — | — | — | — | — | — | |
| LOFTR-OTCategory=Detector-free2022.07 | 41 | 70 | 79 | — | — | — | — | — | — | |
| AsymLocAsym?=✓, # params (online model)=0.08M, # params (offline model)=1M, GFLOPs (inference on 1 image)=4.87, Backbone=0.08M, Teacher Architecture=SuperPoint2026.04 | 41 | 76 | — | — | — | — | — | — | — | |
| ContextDescGeometric Supervision=Strong, Keypoints=ContextDesc2023.06 | 40.9 | 73 | 82.2 | — | — | — | — | — | — | |
| SIFTGeometric Supervision=None, Keypoints=SIFT2023.06 | 40.2 | 68 | 79.3 | — | — | — | — | — | — | |
| DISKGeometric Supervision=Strong, Keypoints=DISK2023.06 | 40.2 | 70.6 | 81.5 | — | — | — | — | — | — | |
| R2D2Geometric Supervision=Strong, Keypoints=R2D22023.06 | 40 | 74.4 | 84.3 | — | — | — | — | — | — | |
| AsymLocAsym?=✓, # params (online model)=0.06M, # params (offline model)=1M, GFLOPs (inference on 1 image)=3.27, Backbone=0.06M, Teacher Architecture=SuperPoint2026.04 | 39 | 75 | — | — | — | — | — | — | — | |
| DINOGeometric Supervision=None, Keypoints=SuperPoint2023.06 | 38.9 | 70 | 81.7 | — | — | — | — | — | — | |
| StandardAsym?=✗, # params (online model)=0.08M, # params (offline model)=0.08M, GFLOPs (inference on 1 image)=4.87, Backbone=0.08M, Teacher Architecture=SuperPoint2026.04 | 38 | 74 | — | — | — | — | — | — | — | |
| SuperPointGeometric Supervision=Strong, Keypoints=SuperPoint2023.06 | 36.4 | 72.7 | 82.6 | — | — | — | — | — | — | |
| SP+SG+AdaCategory=Detector-based2022.07 | 35 | 71 | 81 | — | — | — | — | — | — | |
| LF-NetGeometric Supervision=Strong, Keypoints=LF-Net2023.06 | 34.4 | 62.2 | 73.7 | — | — | — | — | — | — | |
| Patch2PixCategory=Detector-based2022.07 | 34 | 68 | 79 | — | — | — | — | — | — | |
| SP+SGCategory=Detector-based2022.07 | 34 | 67 | 81 | — | — | — | — | — | — | |
| OpenCLIPGeometric Supervision=None, Keypoints=SuperPoint2023.06 | 33.3 | 67.2 | 78 | — | — | — | — | — | — | |
| SIFT+HardNetCategory=Detector-based2022.07 | 33 | 59 | 74 | — | — | — | — | — | — | |
| StandardAsym?=✗, # params (online model)=0.06M, # params (offline model)=0.06M, GFLOPs (inference on 1 image)=3.27, Backbone=0.06M, Teacher Architecture=SuperPoint2026.04 | 33 | 71 | — | — | — | — | — | — | — | |
| SPCategory=Detector-based2022.07 | 31 | 66 | 78 | — | — | — | — | — | — | |
| KeyNet+HardNetCategory=Detector-based2022.07 | 30 | 61 | 75 | — | — | — | — | — | — | |
| R2D2(MS)Category=Detector-based2022.07 | 29 | 60 | 72 | — | — | — | — | — | — | |
| SP+CAPSCategory=Detector-based2022.07 | 27 | 66 | 71 | — | — | — | — | — | — | |
| D2-NetGeometric Supervision=Strong, Keypoints=D2-Net2023.06 | 16.7 | 61 | 75.9 | — | — | — | — | — | — |