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Ablation study—summary
| KPN | Irrelevant keypoint | Inconsistent homography | |
|---|---|---|---|
| rejection | filtering | ||
| E0 | X∗ | ||
| E1 | X | ||
| E2 | X | X | |
| Proposed | X | X | X |
KPN keypoint proposal network (“Keypoint proposal computation” section). ∗For E0, we test SuperPoint trained on MS-COCO 2014 dataset without any fine-tuning on fetoscopy data
