A Robust Invariant Local Feature Matching Method for Changing Scenes

Table 6

The index comparison of HPatches View.

Dataset	Evaluation	SIFT	ORB	Superpoint	R2D2 [31]	D2-net [32]	Our method
HPatches View	Precision	0.514	0.572	0.594	0.549	0.563	0.625
	Recall	0.349	0.421	0.445	0.371	0.381	0.494
	HEstimation	0.643	0.687	0.651	0.626	0.552	0.687