{"id":"https://openalex.org/W7130378483","doi":"https://doi.org/10.48550/arxiv.2602.15755","title":"RaCo: Ranking and Covariance for Practical Learned Keypoints","display_name":"RaCo: Ranking and Covariance for Practical Learned Keypoints","publication_year":2026,"publication_date":"2026-02-17","ids":{"openalex":"https://openalex.org/W7130378483","doi":"https://doi.org/10.48550/arxiv.2602.15755"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2602.15755","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15755","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2602.15755","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5126353897","display_name":"Abhiram Shenoi","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Shenoi, Abhiram","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047482262","display_name":"Philipp Lindenberger","orcid":"https://orcid.org/0000-0003-4112-6542"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lindenberger, Philipp","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5047661610","display_name":"Paul-Edouard Sarlin","orcid":"https://orcid.org/0000-0001-6230-266X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Sarlin, Paul-Edouard","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5126289814","display_name":"Marc Pollefeys","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Pollefeys, Marc","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5126353897"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.6335999965667725,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.6335999965667725,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.15620000660419464,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.04039999842643738,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6704999804496765},{"id":"https://openalex.org/keywords/covariance","display_name":"Covariance","score":0.5997999906539917},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.5541999936103821},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.5411999821662903},{"id":"https://openalex.org/keywords/pattern-recognition","display_name":"Pattern recognition (psychology)","score":0.4724000096321106},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4287000000476837},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.4041999876499176}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6704999804496765},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6266000270843506},{"id":"https://openalex.org/C178650346","wikidata":"https://www.wikidata.org/wiki/Q201984","display_name":"Covariance","level":2,"score":0.5997999906539917},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5547999739646912},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.5541999936103821},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.5411999821662903},{"id":"https://openalex.org/C153180895","wikidata":"https://www.wikidata.org/wiki/Q7148389","display_name":"Pattern recognition (psychology)","level":2,"score":0.4724000096321106},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4287000000476837},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.41620001196861267},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.4041999876499176},{"id":"https://openalex.org/C189430467","wikidata":"https://www.wikidata.org/wiki/Q7293293","display_name":"Ranking (information retrieval)","level":2,"score":0.38530001044273376},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.38499999046325684},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3702000081539154},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.3691999912261963},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.3456999957561493},{"id":"https://openalex.org/C86037889","wikidata":"https://www.wikidata.org/wiki/Q4330127","display_name":"Learning to rank","level":3,"score":0.3257000148296356},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3206999897956848},{"id":"https://openalex.org/C67226441","wikidata":"https://www.wikidata.org/wiki/Q1665389","display_name":"Robust statistics","level":3,"score":0.28790000081062317},{"id":"https://openalex.org/C9417928","wikidata":"https://www.wikidata.org/wiki/Q1070689","display_name":"Image processing","level":3,"score":0.28439998626708984},{"id":"https://openalex.org/C3020402766","wikidata":"https://www.wikidata.org/wiki/Q104376712","display_name":"Prior information","level":2,"score":0.2734000086784363},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.2694000005722046},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.25870001316070557}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2602.15755","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15755","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2602.15755","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2602.15755","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"This":[0],"paper":[1],"introduces":[2],"RaCo,":[3],"a":[4,17,34,41,47],"lightweight":[5],"neural":[6],"network":[7,89],"designed":[8],"to":[9,37,50,123],"learn":[10],"robust":[11],"and":[12,46,107,120,128,136],"versatile":[13],"keypoints":[14],"suitable":[15],"for":[16,68],"variety":[18],"of":[19,44,85],"3D":[20],"computer":[21],"vision":[22],"tasks.":[23],"The":[24,91,140],"model":[25],"integrates":[26],"three":[27],"key":[28],"components:":[29],"the":[30,66,83],"repeatable":[31,137],"keypoint":[32,105,126],"detector,":[33],"differentiable":[35],"ranker":[36],"maximize":[38],"matches":[39],"with":[40],"limited":[42],"number":[43],"keypoints,":[45],"covariance":[48,130],"estimator":[49],"quantify":[51],"spatial":[52],"uncertainty":[53],"in":[54,104],"metric":[55,129],"scale.":[56],"Trained":[57],"on":[58,95],"perspective":[59],"image":[60,70],"crops":[61],"only,":[62],"RaCo":[63,116],"operates":[64],"without":[65,82,131],"need":[67],"covisible":[69],"pairs.":[71],"It":[72],"achieves":[73],"strong":[74],"rotational":[75],"robustness":[76],"through":[77],"extensive":[78],"data":[79],"augmentation,":[80],"even":[81],"use":[84],"computationally":[86],"expensive":[87],"equivariant":[88],"architectures.":[90],"method":[92],"is":[93,142],"evaluated":[94],"several":[96],"challenging":[97],"datasets,":[98],"where":[99],"it":[100],"demonstrates":[101],"state-of-the-art":[102],"performance":[103],"repeatability":[106],"two-view":[108],"matching,":[109],"particularly":[110],"under":[111],"large":[112],"in-plane":[113],"rotations.":[114],"Ultimately,":[115],"provides":[117],"an":[118],"effective":[119],"simple":[121],"strategy":[122],"independently":[124],"estimate":[125],"ranking":[127],"additional":[132],"labels,":[133],"detecting":[134],"interpretable":[135],"interest":[138],"points.":[139],"code":[141],"available":[143],"at":[144],"https://github.com/cvg/RaCo.":[145]},"counts_by_year":[],"updated_date":"2026-02-19T06:31:58.851227","created_date":"2026-02-19T00:00:00"}
