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PerformanceEvaluation.md

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Performance Evaluation

These results are recorded from running a total of 35 experiments based on combinations of 7 detectors and 6 descriptors.

Performance Evaluation 1: Number of Keypoints

Count the number of keypoints on the preceding vehicle for all 10 images and take note of the distribution of their neighborhood size. Do this for all the detectors you have implemented.

Detector Total keypoints from all 10 images Total keypoints in scene (average per image) Keypoints detected on preceding vehicle (average per image) % keypoints removed from scene to focus on preceding vehicle
Shi-Tomasi 13423 1342 117 91.2166
HARRIS 1737 173 24 85.7225
FAST 17874 1787 149 91.6583
BRISK 27116 2711 276 89.8141
ORB 5000 500 116 76.78
AKAZE 13430 1343 167 87.5652
SIFT 13861 1386 138 90.0007

Performance Evaluation 2: Number of Matched Keypoints

Count the number of matched keypoints for all 10 images using all possible combinations of detectors and descriptors. In the matching step, the BF approach is used with the descriptor distance ratio set to 0.8.

Total number of matched keypoints over 10 images

Detector - Descriptor BRISK BRIEF ORB FREAK AKAZE SIFT
Shi-Tomasi 767 944 1814 766 0 928
HARRIS 142 173 320 146 0 163
FAST 899 1099 2162 881 0 1048
SIFT 300 339 0 270 0 800
AKAZE 1215 1266 2372 1188 2518 1274
ORB 751 545 1522 421 0 766
BRISK 1570 1704 3020 1526 0 1658

Average number of matched keypoints per image pair

Detector - Descriptor BRISK BRIEF ORB FREAK AKAZE SIFT
Shi-Tomasi 76 94 181 76 0 92
HARRIS 14 17 32 14 0 16
FAST 89 109 216 88 0 104
SIFT 30 33 0 27 0 80
AKAZE 121 126 237 118 251 127
ORB 75 54 152 42 0 76
BRISK 157 170 302 152 0 165

Performance Evaluation 3: Keypoint Detection and Descriptor Extraction

Log the time it takes for keypoint detection and descriptor extraction.

Keypoint Detection Times (milliseconds)

Detector - Descriptor BRISK BRIEF ORB FREAK AKAZE SIFT
Shi-Tomasi 119.691 100.825 194.883 97.2086 0 95.2458
HARRIS 106.882 106.321 215.06 105.65 0 114.046
FAST 2.95875 3.63778 5.87557 3.04111 0 2.93478
SIFT 279.623 291.777 0 277.026 0 269.24
AKAZE 195.898 192.331 389.947 200.115 420.824 202.292
ORB 18.2713 12.4689 29.0668 13.458 0 10.5294
BRISK 50.0622 51.9845 104.338 50.8684 0 50.3581

Descriptor Extraction Times (milliseconds)

Detector - Descriptor BRISK BRIEF ORB FREAK AKAZE SIFT
Shi-Tomasi 17.5855 10.0552 41.3105 164.972 0 116.911
HARRIS 8.83779 7.56274 38.4216 160.111 0 117.8
FAST 9.12265 3.61084 18.4732 88.2758 0 65.7425
SIFT 7.85048 3.81915 0 57.5693 0 219.924
AKAZE 8.49599 5.58923 43.1449 43.319 391.162 79.6987
ORB 6.03889 5.74562 33.7996 35.6146 0 75.6039
BRISK 5.28721 2.35414 24.7665 28.236 0 38.9537