Table 3.

Quantitative results for the six tested in vivo fetoscopy videos

	Video 1	Video 2	Video 3
SIFT	$0.662\pm 0.115$	$0.732\pm 0.120$	$0.749\pm 0.279$
Bano et al. [8]	$\mathbf{0.757}\pm \mathbf{0.081}$	$\mathbf{0.788}\pm \mathbf{0.050}$	$0.839\pm 0.208$
Pre-trained SuperPoint (E0)	$0.528\pm 0.247$	$0.202\pm 0.264$	$0.219\pm 0.266$
Vanilla SuperPoint (E1)	$0.731\pm 0.116$	$0.740\pm 0.079$	$0.809\pm 0.174$
Semantic KPN (E2)	$0.730\pm 0.112$	$0.743\pm 0.071$	$0.813\pm 0.172$
Proposed	$0.750\pm 0.081$	$0.766\pm 0.048$	$\mathbf{0.884}\pm \mathbf{0.075}$
	Video 4	Video 5	Video 6
SIFT	$0.660\pm 0.347$	$0.5164\pm 0.402$	$0.485\pm 0.389$
Bano et al. [8]	$0.745\pm 0.257$	$0.890\pm 0.070$	$0.861\pm 0.205$
Pre-trained SuperPoint (E0)	$0.322\pm 0.362$	$0.341\pm 0.284$	$0.209\pm 0.336$
Vanilla SuperPoint (E1)	$0.801\pm 0.111$	$0.829\pm 0.091$	$0.817\pm 0.076$
Semantic KPN (E2)	$0.818\pm 0.111$	$0.832\pm 0.090$	$0.817\pm 0.073$
Proposed	$\mathbf{0.870}\pm \mathbf{0.125}$	$\mathbf{0.897}\pm \mathbf{0.012}$	$\mathbf{0.909}\pm \mathbf{0.021}$

The s with n = 5 frames is reported in terms of mean ± standard deviation

Higher value of s for each video are highlighted in bold