FeaturesBenchmark

Hongyu Ge, biomed ssSEM LAB, SIBET, Suzhou, China

Tips

1. All algorithms are OpenCV C++ implementation.

2. To run all tests, you have to install OpenCV with the following options:

   -DOPENCV_EXTRA_MODULES_PATH={prefix}/opencv_contrib-master/modules
   -DWITH_CUDA=ON
   -DOPENCV_ENABLE_NONFREE=ON
   

3. The following results are tested on:

   System: Ubuntu18.04

   CPU: Intel Core i9-9920X (12c24t)

   GPU: Nvidia RTX 2070 Super (8GB Mem.)

Exp.1 The speed of detecting features

Parameters:

orb & orb_cuda: nfeatures=100000

other: default

	2048*2048	4096*4096	12288*12288
SIFT	0.825380	3.24006	30.9637
SURF	0.418311	1.34376	9.88681
ORB	0.249954	0.87945	6.61783
SURF_CUDA	0.155271	0.27863	1.34502
ORB_CUDA	0.039196	0.07346	0.35331
AKAZE	0.499058	2.04194	10.0434

Exp.2 Detected features' number

Parameters:

orb & orb_cuda: nfeatures=100000

other: default

	2048*2048	4096*4096	12288*12288
SIFT	106285	555219	2335809
SURF	84007	291089	2134577
ORB	100000	100000	100000
SURF_CUDA	41943	65535	65535
ORB_CUDA	97264	100000	100000
AKAZE	83912	357588	2757210

10000 : Set by the input arguments.

65535 : The maximum value set by OpenCV and reason is unknown.

Exp.3 Matched features' number and ratio

Parameters:

orb & orb_cuda: nfeatures=100000

SIFT/SURF matching method: FlannBasedMatcher

ORB/ORB_CUDA/AKAZE matching method: descriptors converted to CV_32F

SURF_CUDA matching method: CUDA_FlannBasedMatcher

other: default

	2048*2048	4096*4096	12288*12288
SIFT	6014/5.66%	29285/5.27%	46439/1.99%
SURF	2726/3.25%	11750/4.04%	46188/2.16%
ORB	866/0.87%	1422/1.42%	1354/1.35%
SURF_CUDA	1037/2.47%	2507/3.83%	447/0.68%
ORB_CUDA	203/0.21%	399/0.40%	497/0.50%
AKAZE	2608/3.11%	13823/3.87%	77164/2.80%

Exp.4 Inliers' number and ratio

Parameters:

orb & orb_cuda: nfeatures=100000

SIFT/SURF matching method: FlannBasedMatcher

ORB/ORB_CUDA/AKAZE matching method: descriptors converted to CV_32F and then use FlannBasedMatcher

SURF_CUDA matching method: CUDA_FlannBasedMatcher

Filter: RANSAC

RANSAC threshold: 0.95

other: default

	2048*2048	4096*4096	12288*12288
SIFT	5868/97.57%	25562/87.29%	17619/37.94%
SURF	2417/88.66%	9552/81.29%	12503/27.07%
ORB	387/44.69%	622/43.74%	141/10.41%
SURF_CUDA	984/94.80%	2343/93.46%	338/75.62%
ORB_CUDA	53/27.46%	208/52.13%	86/17.30%
AKAZE	2522/96.52%	11943/86.40%	25699/33.30%