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Table 2 Evaluation of reconstructed camera poses (both position and orientation)

From: Structure from motion using dense CNN features with keypoint relocalization

  DoG+ DenseCNN DenseCNN
  RootSIFT [6] w/o reloc w/ reloc (Ours)
0.5m 15.31 5.10 18.37
1.0m 25.61 14.29 33.67
5.0m 36.73 45.92 69.39
10.0m 35.71 61.22 81.63
20.0m 39.80 69.39 82.65
  1. The numbers show the percentage of the reconstructed night images within given positional error thresholds and an angular error fixed at 10°
  2. The proposed method have the most number of reconstructed cameras for either day or night images