Robust Keypoint Detection and Matching on Fisheye Images by Self-Supervised Learning

Table 4

Test of keypoint models under contrast change. Best and second best are denoted in bold and italics.

Model	RS	LE	HA	MS
SIFT	0.40	3.57	0.24	0.32
SURF	0.39	3.78	0.26	0.34
ORB	0.45	2.46	0.17	0.16
BRISK	0.48	2.98	0.20	0.27
KAZE	0.37	2.79	0.27	0.35
AKAZE	0.35	2.93	0.19	0.20
Ours	0.43	2.59	0.38	0.39