Table 1.

Quantitative comparison of the tested methods.

Method	Mean RE (↓)			Mean normalized RE (↓)			Mean SSIM (↑)
No transformation	41.77			1			0.431
Manual annotation
SH	8.44			0.267			0.513
MLS	6.20			0.257			0.531
BEBLID	w/o	256	512	w/o	256	512	w/o	256	512
A-KAZE
SH	10.87	10.77	10.88	0.346	0.350	0.355	0.526	0.528	0.528
MLS	25.13	44.89	34.92	0.690	1.104	0.851	0.519	0.489	0.504
SH + HMA	10.88	10.82	10.89	0.346	0.355	0.357	0.518	0.521	0.521
ORB 1000
SH	11.54	12.20	12.16	0.374	0.395	0.390	0.520	0.523	0.523
MLS	57.17	46.01	38.98	1.465	1.214	1.023	0.480	0.494	0.503
SH + HMA	11.54	12.21	12.26	0.374	0.395	0.391	0.517	0.520	0.519
BRISK
SH	11.35	11.52	11.51	0.366	0.367	0.361	0.529	0.527	0.527
MLS	51.02	38.41	30.98	1.240	1.006	0.820	0.487	0.494	0.511
SH + HMA	11.36	12.68	11.52	0.365	0.380	0.361	0.521	0.520	0.520
MG-DHNN25	20.18			0.549			0.515
MG-DHNN fine-tuned	13.17			0.408			0.514

First and second-best solution are printed in bold and italic respectively.