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We introduce a comprehensive benchmark for local features and robust estimation algorithms, focusing on the downstream task -- the accuracy of the reconstructed camera pose -- as our primary metric.
Rotationally invariant image operators
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Random Sample Consensus: A Paradigm for Model Fitting with Applications to Image Analysis and Automated Cartography
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Adaptive histogram equalization and its variations
Pizer, S. M., Amburn, E. P., Austin, J. D., Cromartie, R., Geselowitz, A., Greer, T., ter Haar Romeny, B., Zimmerman, J. B., & Zuiderveld, K · 1987
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Projective reconstruction and invariants from multiple images
Hartley, R. I · 1994
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In Defense of the Eight-Point Algorithm
Hartley, R · 1997
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Wide baseline stereo matching
Pritchett, P. & Zisserman, A · 1998
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Reliable Feature Matching Across Widely Separated Views
Baumberg, A · 2000
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The OpenCV Library
Bradski, G · 2000
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Multiple View Geometry in Computer Vision
Hartley, R. & Zisserman, A · 2000
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MLESAC: A New Robust Estimator with Application to Estimating Image Geometry
Torr, P. & Zisserman, A · 2000
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Bundle Adjustment – A Modern Synthesis
Triggs, B., Mclauchlan, P., Hartley, R., & Fitzgibbon, A · 2000
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Estimation of Deformable Structure and Motion
Aanaes, H. & Kahl, F · 2002
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Locally Optimized RANSAC
Chum, O., Matas, J., & Kittler, J · 2003
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Locally optimized ransac
Chum, O., Matas, J., & Kittler, J · 2003
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An Efficient Solution to the Five-Point Relative Pose Problem
Nister, D · 2003
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Slurm: Simple linux utility for resource management
Yoo, A. B., Jette, M. A., & Grondona, M · 2003
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Distinctive Image Features from Scale-Invariant Keypoints
Lowe, D. G · 2004
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Robust Wide-Baseline Stereo from Maximally Stable Extremal Regions
Matas, J., Chum, O., Urban, M., & Pajdla, T · 2004
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A Performance Evaluation of Local Descriptors
Mikolajczyk, K. & Schmid, C · 2004
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Human Detection Based on a Probabilistic Assembly of Robust Part Detectors
Mikolajczyk, K., Schmid, C., & Zisserman, A · 2004
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Matching with PROSAC - Progressive Sample Consensus
Chum, O. & Matas, J · 2005
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Two-View Geometry Estimation Unaffected by a Dominant Plane
Chum, O., Werner, T., & Matas, J · 2005
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SURF: Speeded Up Robust Features
Bay, H., Tuytelaars, T., & Van Gool, L · 2006
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Automatic Panoramic Image Stitching Using Invariant Features
Brown, M. & Lowe, D · 2007
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Consistent Temporal Variations in Many Outdoor Scenes
Jacobs, N., Roman, N., & Pless, R · 2007
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On Benchmarking Camera Calibration and Multi-View Stereo for High Resolution Imagery
Strecha, C., Hansen, W., Van Gool, L., Fua, P., & Thoennessen, U · 2008
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Building Rome in One Day
Agarwal, S., Snavely, N., Simon, I., Seitz, S., & Szeliski, R · 2009
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Fast Approximate Nearest Neighbors with Automatic Algorithm Configuration
Muja, M. & Lowe, D. G · 2009
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Faster and Better: A Machine Learning Approach to Corner Detection
Rosten, E., Porter, R., & Drummond, T · 2010
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Vlfeat: An open and portable library of computer vision algorithms
Vedaldi, A. & Fulkerson, B · 2010
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The CMU Visual Localization Data Set
Badino, H., Huber, D., & Kanade, T · 2011
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Discriminative Learning of Local Image Descriptors
Brown, M., Hua, G., & Winder, S · 2011
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VLBenchmarks
Karel Lenc and Varun Gulshan and Andrea Vedaldi · 2011
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Brisk: Binary robust invariant scalable keypoints
Leutenegger, S., Chli, M., & Siegwart, R. Y · 2011
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Scikit-learn: Machine learning in Python
Pedregosa, F., Varoquaux, G., Gramfort, A., Michel, V., Thirion, B., Grisel, O., Blondel, M., Prettenhofer, P., Weiss, R., Dubourg, V., Vanderplas, J., Passos, A., Cournapeau, D., Brucher, M., Perrot, M., & Duchesnay, E · 2011
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ORB: An Efficient Alternative to SIFT or SURF
Rublee, E., Rabaud, V., Konolidge, K., & Bradski, G · 2011
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Edge Foci Interest Points
Zitnick, C. & Ramnath, K · 2011
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Interesting Interest Points
Aanaes, H., Dahl, A. L., & Steenstrup Pedersen, K · 2012
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FREAK: Fast Retina Keypoint
Alahi, A., Ortiz, R., & Vandergheynst, P · 2012
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Three things everyone should know to improve object retrieval
Arandjelovic, R. & Zisserman, A · 2012
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Are we ready for Autonomous Driving? The KITTI Vision Benchmark Suite
Geiger, A., Lenz, P., & Urtasun, R · 2012
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Improving Image-Based Localization by Active Correspondence Search
Sattler, T., Leibe, B., & Kobbelt, L · 2012
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Image Retrieval for Image-Based Localization Revisited
Sattler, T., Weyand, T., Leibe, B., & Kobbelt, L · 2012
Cited alongside, same era.
A Benchmark for the Evaluation of RGB-D SLAM Systems
Sturm, J., Engelhard, N., Endres, F., Burgard, W., & Cremers, D · 2012
Cited alongside, same era.
Fast Explicit Diffusion for Accelerated Features in Nonlinear Scale Spaces
Alcantarilla, P. F., Nuevo, J., & Bartoli, A · 2013
Cited alongside, same era.
Towards Linear-Time Incremental Structure from Motion
Wu, C · 2013
Cited alongside, same era.
Multi-view feature engineering and learning
Dong, J., Karianakis, N., Davis, D., Hernandez, J., Balzer, J., & Soatto, S · 2015
Cited alongside, same era.
Local Descriptors Optimized for Average Precision
He, K., Lu, Y., & Sclaroff, S · 2018
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MegaDepth: Learning Single-View Depth Prediction from Internet Photos
Li, Z. & Snavely, N · 2018
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Geodesc: Learning Local Descriptors by Integrating Geometry Constraints
Luo, Z., Shen, T., Zhou, L., Zhu, S., Zhang, R., Yao, Y., Fang, T., & Quan, L · 2018
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Repeatability is Not Enough: Learning Affine Regions via Discriminability
Mishkin, D., Radenovic, F., & Matas, J · 2018
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Understanding and improving kernel local descriptors
Mukundan, A., Tolias, G., Bursuc, A., Jégou, H., & Chum, O · 2018
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LF-Net: Learning Local Features from Images
Ono, Y., Trulls, E., Fua, P., & Yi, K. M · 2018
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Domain-Size Pooling in Local Descriptors: DSP-SIFT
Dong, J. & Soatto, S · 2015
Cited alongside, same era.
Reconstructing the World in Six Days
Heinly, J., Schoenberger, J., Dunn, E., & Frahm, J.-M · 2015
Cited alongside, same era.
Posenet: A Convolutional Network for Real-Time 6-DOF Camera Relocalization
Kendall, A., Grimes, M., & Cipolla, R · 2015
Cited alongside, same era.
MODS: Fast and robust method for two-view matching
Mishkin, D., Matas, J., & Perdoch, M · 2015
Cited alongside, same era.
Orb-Slam: A Versatile and Accurate Monocular Slam System
Mur-Artal, R., Montiel, J., & Tardós, J · 2015
Cited alongside, same era.
Discriminative Learning of Deep Convolutional Feature Point Descriptors
Simo-serra, E., Trulls, E., Ferraz, L., Kokkinos, I., Fua, P., & Moreno-Noguer, F · 2015
Cited alongside, same era.
Deep Fundamental Matrix Estimation
Ranftl, R. & Koltun, V · 2018
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Benchmarking 6DOF Outdoor Visual Localization in Changing Conditions
Sattler, T., Maddern, W., Toft, C., Torii, A., Hammarstrand, L., Stenborg, E., Safari, D., Okutomi, M., Pollefeys, M., Sivic, J., Kahl, F., & Pajdla, T · 2018
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Kernelized Subspace Pooling for Deep Local Descriptors
Wei, X., Zhang, Y., Gong, Y., & Zheng, N · 2018
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Learning to Find Good Correspondences
Yi, K. M., Trulls, E., Ono, Y., Lepetit, V., Salzmann, M., & Fua, P · 2018
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Very Large-Scale Global SfM by Distributed Motion Averaging
Zhu, S., Zhang, R., Zhou, L., Shen, T., Fang, T., Tan, P., & Quan, L · 2018
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Saddle: Fast and repeatable features with good coverage
Aldana-Iuit, J., Mishkin, D., Chum, O., & Matas, J · 2019
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MAGSAC: marginalizing sample consensus
Barath, D., Matas, J., & Noskova, J · 2019
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Key.Net: Keypoint Detection by Handcrafted and Learned CNN Filters
Barroso-Laguna, A., Riba, E., Ponsa, D., & Mikolajczyk, K · 2019
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An Evaluation of Feature Matchers for Fundamental Matrix Estimation
Bian, J.-W., Wu, Y.-H., Zhao, J., Liu, Y., Zhang, L., Cheng, M.-M., & Reid, I · 2019
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Neural- Guided RANSAC: Learning Where to Sample Model Hypotheses
Brachmann, E. & Rother, C · 2019
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Adversarial Networks for Camera Pose Regression and Refinement
Bui, M., Baur, C., Navab, N., Ilic, S., & Albarqouni, S · 2019
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D2-Net: A Trainable CNN for Joint Detection and Description of Local Features
Dusmanu, M., Rocco, I., Pajdla, T., Pollefeys, M., Sivic, J., Torii, A., & Sattler, T · 2019
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Beyond Cartesian Representations for Local Descriptors
Ebel, P., Mishchuk, A., Yi, K. M., Fua, P., & Trulls, E · 2019
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gradSLAM: Dense SLAM meets Automatic Differentiation
Krishna Murthy, J., Iyer, G., & Paull, L · 2019
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ContextDesc: Local Descriptor Augmentation with Cross-Modality Context
Luo, Z., Shen, T., Zhou, L., Zhang, J., Yao, Y., Li, S., Fang, T., & Quan, L · 2019
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Large-scale, real-time visual-inertial localization revisited
Lynen, S., Zeisl, B., Aiger, D., Bosse, M., Hesch, J., Pollefeys, M., Siegwart, R., & Sattler, T · 2019
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Explicit Spatial Encoding for Deep Local Descriptors
Mukundan, A., Tolias, G., & Chum, O · 2019
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Leveraging Outdoor Webcams for Local Descriptor Learning
Pultar, M., Mishkin, D., & Matas, J · 2019
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Leveraging Outdoor Webcams for Local Descriptor Learning
Pultar, M., Mishkin, D., & Matas, J · 2019
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R2D2: Repeatable and Reliable Detector and Descriptor
Revaud, J., Weinzaepfel, P., De Souza, C., Pion, N., Csurka, G., Cabon, Y., & Humenberger, M · 2019
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R2D2: Repeatable and Reliable Detector and Descriptor
Revaud, J., Weinzaepfel, P., de Souza, C. R., Pion, N., Csurka, G., Cabon, Y., & Humenberger, M · 2019
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Understanding the Limitations of CNN-based Absolute Camera Pose Regression
Sattler, T., Zhou, Q., Pollefeys, M., & Leal-Taixe, L · 2019
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Self-Supervised Learning of Depth and Ego-motion with Differentiable Bundle Adjustment
Shi, Y., Zhu, J., Fang, Y., Lien, K., & Gu, J · 2019
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InLoc: Indoor Visual Localization with Dense Matching and View Synthesis
Taira, H., Okutomi, M., Sattler, T., Cimpoi, M., Pollefeys, M., Sivic, J., Pajdla, T., & Torii, A · 2019
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Ba-Net: Dense Bundle Adjustment Network
Tang, C. & Tan, P · 2019
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SOSNet: Second Order Similarity Regularization for Local Descriptor Learning
Tian, Y., Yu, X., Fan, B., Wu, F., Heijnen, H., & Balntas, V · 2019
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Learning Two-View Correspondences and Geometry Using Order-Aware Network
Zhang, J., Sun, D., Luo, Z., Yao, A., Zhou, L., Shen, T., Chen, Y., Quan, L., & Liao, H · 2019
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Learning two-view correspondences and geometry using order-aware network
Zhang, J., Sun, D., Luo, Z., Yao, A., Zhou, L., Shen, T., Chen, Y., Quan, L., & Liao, H · 2019
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NM-Net: Mining Reliable Neighbors for Robust Feature Correspondences
Zhao, C., Cao, Z., Li, C., Li, X., & Yang, J · 2019
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Is there anything new to say about sift matching?
Bellavia, F. & Colombo, C · 2020
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Kornia: an open source differentiable computer vision library for pytorch
E. Riba, D. Mishkin, D. P. E. R. & Bradski, G · 2020
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Superglue: Learning feature matching with graph neural networks
Sarlin, P., DeTone, D., Malisiewicz, T., & Rabinovich, A · 2020
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ACNe: Attentive Context Normalization for Robust Permutation-Equivariant Learning
Sun, W., Jiang, W., Trulls, E., Tagliasacchi, A., & Yi, K. M · 2020
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DeepSFM: Structure From Motion Via Deep Bundle Adjustment
Wei, X., Zhang, Y., Li, Z., Fu, Y., & Xue, X · 2020
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To learn or not to learn: Visual localization from essential matrices
Zhou, Q., Sattler, T., Pollefeys, M., & Leal-Taixe, L · 2020
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