A Robust Invariant Local Feature Matching Method for Changing Scenes

Table 5

The index comparison of HPatches Illum.

Dataset	Evaluation	SIFT	ORB	Superpoint	R2D2 [31]	D2-net [32]	Our method
HPatches Illum	Precision	0.553	0.564	0.629	0.656	0.651	0.664
	Recall	0.431	0.483	0.564	0.580	0.565	0.664
	HEstimation	0.897	0.884	0.876	0.816	0.818	0.883