Table 2.

Quantitative comparison between the fully affine invariant group and the feature-based group with respect to area A6

Methods	Features detectedin image pair		Inliers	Matchedfeatures	Inlierratio	Methods	Features detectedin image pair		Inliers	Matchedfeatures	Inlierratio
Methods	Image	Template(S06)	Inliers	Matchedfeatures	Inlierratio	Methods	Image	Template(S06)	Inliers	Matchedfeatures	Inlierratio
Image pair #1 of A6 (S08, S06)
ASIFT	6485	6184	1236	1412	0.88	SIFT	431	444	117	143	0.82
ASURF	13192	12398	1705	2351	0.73	SURF	832	843	123	162	0.76
AAKAZE	2864	2586	840	1179	0.71	AKAZE	208	191	95	108	0.88
ABRISK	5221	5164	777	880	0.88	BRISK	417	432	86	93	0.92
AORB	13177	12917	1467	1858	0.79	ORB	500	500	101	127	0.80
Image pair #2 of A6 (S09, S06)
ASIFT	6611	6184	191	365	0.52	SIFT	477	444	30	44	0.68
ASURF	13411	12398	322	734	0.44	SURF	886	843	30	59	0.51
AAKAZE	2530	2586	351	490	0.72	AKAZE	219	191	37	56	0.66
ABRISK	4636	5164	203	296	0.69	BRISK	419	432	30	43	0.70
AORB	12477	12917	335	555	0.60	ORB	500	500	32	52	0.62
Image pair #3 of A6 (S10, S06)
ASIFT	7681	6184	469	602	0.78	SIFT	521	444	53	66	0.80
ASURF	12154	12398	554	880	0.63	SURF	844	843	62	86	0.72
AAKAZE	2837	2586	422	546	0.77	AKAZE	263	191	48	61	0.79
ABRISK	6476	5164	459	548	0.84	BRISK	643	432	70	74	0.95
AORB	13486	12917	784	1027	0.76	ORB	500	500	61	75	0.81
Image pair #4 of A6 (S11, S06)
ASIFT	8556	6184	132	273	0.48	SIFT	581	444	30	40	0.75
ASURF	13982	12398	195	502	0.39	SURF	931	843	35	53	0.66
AAKAZE	3033	2586	200	299	0.67	AKAZE	271	191	31	47	0.66
ABRISK	7262	5164	159	239	0.67	BRISK	720	432	32	42	0.76
AORB	14158	12917	255	396	0.64	ORB	500	500	26	41	0.63
Image pair #5 of A6 (S12, S06)
ASIFT	9027	6184	426	624	0.68	SIFT	651	444	58	79	0.73
ASURF	13988	12398	448	772	0.58	SURF	935	843	57	85	0.67
AAKAZE	3031	2586	278	403	0.69	AKAZE	251	191	52	66	0.79
ABRISK	7478	5164	365	452	0.81	BRISK	662	432	50	59	0.85
AORB	13889	12917	553	750	0.74	ORB	500	500	62	77	0.81
Image pair #6 of A6 (S16 S06)
ASIFT	6248	6184	392	532	0.74	SIFT	388	444	49	56	0.88
ASURF	12517	12398	399	681	0.59	SURF	782	843	53	75	0.71
AAKAZE	2424	2586	338	359	0.94	AKAZE	197	191	47	56	0.84
ABRISK	4596	5164	240	271	0.89	BRISK	371	432	41	53	0.77
AORB	12004	12917	447	556	0.80	ORB	500	500	49	57	0.86
Image pair #7 of A6 (S17, S06)
ASIFT	4343	6184	80	140	0.57	SIFT	279	444	17	22	0.77
ASURF	11170	12398	82	291	0.28	SURF	704	843	13	30	0.43
AAKAZE	1885	2586	62	92	0.67	AKAZE	140	191	16	19	0.84
ABRISK	3449	5164	43	57	0.75	BRISK	254	432	19	20	0.95
AORB	10545	12917	76	143	0.53	ORB	500	500	21	34	0.62
Mean values for all image pairs
ASIFT	6993	6184	418	564	0.74	SIFT	475.43	444	50.57	64.29	0.79
ASURF	12916.29	12398	529.29	887.29	0.60	SURF	844.86	843	53.29	78.57	0.68
AAKAZE	2657.71	2586	355.86	481.14	0.74	AKAZE	221.29	191	46.57	59	0.79
ABRISK	5588.29	5164	320.86	391.86	0.82	BRISK	498	432	46.86	54.86	0.85
AORB	12819.42	12917	559.57	755	0.74	ORB	500	500	50.29	66.14	0.76