TABLE 4.
Results of rigid SFM methods on different subsets of the dinosaur dataset.
| Method (model) | 319 point tracks (76.9% missing) | 2,683 point tracks (87.8% missing) | 4,983 point tracks (90.8% missing) | |||
|---|---|---|---|---|---|---|
| RMSE | mean/max 2D error | RMSE | mean/max 2D error | RMSE | mean/max 2D error | |
| CSF-Baf (1) | 1.0847 | .6286 / 38.8381 | 1.3370 | .7129 / 39.9999 | 1.1346 | .5133 / 39.9999 |
| LM-S, LM-SGN (1) | 1.0847 | .6287 / 38.8376 | 1.3370 | .7131 / 39.9999 | 1.1346 | .5135 / 39.9997 |
| DN (1) | 1.0847 | – | – | – | – | – |
| DP (1) | 1.5482 | 1.0131 / 39.4277 | 2.0201 | 1.9103 / 40.2124 | 1.7142 | 1.6233 / 40.1713 |
| MME (1) | – | – | – | 2.4017 / 72.4467 | – | 1.8438 / 72.4467 |
| CSF-Baf (2) | 1.2702 | .8810 / 41.4078 | 1.4294 | .8610 / 42.5002 | 1.2176 | .6808 / 42.4961 |
| Wiberg (2) | 1.2702 | .8810 / 41.4081 | 1.4294 | .8609 / 42.5002 | 1.2176 | .6808 / 42.4959 |
| DN (1*) | 1.2702 | – | – | – | – | – |
| CBC (2) | 1.8120 | .9730 / 76.4071 | 2.9126 | .8884 / 92.7365 | 2.4538 | .7044 / 92.7399 |
| PF (2) | 1.4139 | 1.0091 / 41.1094 | 2.0604 | 1.2238 / 64.1713 | 2.4531 | 1.5846 / 61.3726 |
| CSF-Bwp (3) | 1.3031 | .8757 / 43.8770 | 1.4833 | .8122 / 44.6721 | 1.2641 | .6472 / 44.7587 |
| EPF 3) | 1.3705 | – / 21 | – | – | – | – |
| ProjSFM-BA (3*) | – | – | – | – | – | .64 / 41.5 |
†
Models: (1) general rank-4 factors (no mean column); (2) affine SFM; (3) Euclidean (weak-perspective) SFM; (3*) projective SFM with Euclidean bundle adjustment; (1*) penalty terms imposed on model (1) to favor orthogonality of camera axes. Error values are given in pixels.