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Scalar detection uncertainty #158

Merged
merged 1 commit into from
Feb 17, 2022
Merged

Scalar detection uncertainty #158

merged 1 commit into from
Feb 17, 2022

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sarlinpe
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This PR adds an uncertainty associated to the detection of keypoints. It depends on the keypoint detector (lower for SIFT than SuperPoint) and on the image resolution of the extraction.

  • This could be useful for downstream uses like PnP+RANSAC or SfM but is not implemented in hloc yet.
  • For now this is a per-image scalar but this could be upgraded to a per-keypoint uncertainty (e.g. scale-dependent for SIFT) and to a full covariance matrix (e.g. Hessian of the detection heatmap).

@sarlinpe sarlinpe changed the title Add scalar detection uncertainty Scalar detection uncertainty Feb 10, 2022
@sarlinpe sarlinpe merged commit 75df166 into master Feb 17, 2022
@sarlinpe sarlinpe deleted the detection-uncertainty branch February 17, 2022 10:38
@sarlinpe sarlinpe mentioned this pull request Aug 17, 2022
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