Relative pose estimation on PhotoTourism SPSG 4K minimal samples (test)
0.919mAA (e)Oracle
Evaluation Results
| Method | Links | ||||||
|---|---|---|---|---|---|---|---|
| OracleScoring protocol=Minimal Samples Scoring, Minimal samples=4K2025.12 | 0.919 | 0.932 | 0.931 | 0.37 | 0.27 | 0.31 | |
| IRLS-LMA GaULocal Optimization (LO)=IRLS-LMA GaU, Base Model=Best GaU Minimal Model, Minimal samples=4K2025.12 | 0.678 | 0.82 | 0.693 | 2.3 | 0.9 | 2.08 | |
| PoseLib (Truncated)Local Optimization (LO)=PoseLib (Truncated), Base Model=Best GaU Minimal Model, Minimal samples=4K2025.12 | 0.677 | 0.819 | 0.692 | 2.33 | 0.92 | 2.12 | |
| PoseLib (Le-Zach)Local Optimization (LO)=PoseLib (Le-Zach), Base Model=Best GaU Minimal Model, Minimal samples=4K2025.12 | 0.677 | 0.819 | 0.692 | 2.33 | 0.91 | 2.12 | |
| MAGSAC++Scoring protocol=Minimal Samples Scoring, Minimal samples=4K2025.12 | 0.653 | 0.808 | 0.669 | 2.66 | 1.04 | 2.42 | |
| GaUScoring protocol=Minimal Samples Scoring, Minimal samples=4K2025.12 | 0.653 | 0.808 | 0.669 | 2.66 | 1.04 | 2.43 | |
| LearnedScoring protocol=Minimal Samples Scoring, Minimal samples=4K2025.12 | 0.653 | 0.808 | 0.669 | 2.66 | 1.03 | 2.42 | |
| MSACScoring protocol=Minimal Samples Scoring, Minimal samples=4K2025.12 | 0.651 | 0.807 | 0.667 | 2.67 | 1.04 | 2.43 | |
| RANSACScoring protocol=Minimal Samples Scoring, Minimal samples=4K2025.12 | 0.633 | 0.797 | 0.65 | 2.92 | 1.12 | 2.67 |