Model Details
Important
Check the LICENSE of each model/original code base before use in your application. Some are heavily restricted.
Most models can run on both CPU and GPU. If a runtime shows ❌, that model cannot run on that device. MPS (Apple Silicon) is not tested.
| Model | Code | Paper | GPU Runtime (s/img) | CPU Runtime (s/img) |
|---|---|---|---|---|
| 2026 | ||||
| LoMa-R (CVPR IMW '26) | Official | arxiv | ||
| LoMa (arXiv '26) | Official | arxiv | ||
| 2025 | ||||
| RoMa v2 (arXiv '25) | Official | arxiv | ||
| UFM (NeurIPS '25) | Official | arxiv | ||
| RIPE (ICCV '25) | Official | arxiv | 2.772 | |
| RDD (CVPR '25) | Official | Project page | 6.73 / 7.85 / 9.18 / 15.75 | |
| EDM (arXiv '25) | Official | arxiv | 0.493 | |
| LiftFeat (ICRA '25) | Official | arxiv | 0.514 | 2.577 |
| MINIMA (CVPR '25) | Official | arxiv | 11.32 / 7.355 / 96.6 / 0.561 | |
| 2024 | ||||
| XoFTR (CVPR IMW '24) | Official | 8.954 | ||
| Affine Steerers (ECCV '24) | Official | arxiv | 0.677 | ❌ |
| Keypt2Subpx* (ECCV '24) | Official | arxiv | 0.055 /0.164 / 0.033 / 0.291 | -- |
| MASt3R (ECCV '24) | Official | arxiv | 0.699 | 22.27 |
| Efficient-LoFTR (CVPR '24) | Official | 0.1026 | 2.117 | |
| OmniGlue (CVPR '24) | Official | arxiv | ❌ | 6.351 |
| xFeat-Steerers | Official | Discussion | 0.037 | 0.124 |
| xFeat (CVPR '24) | Official | arxiv | 0.027 | 0.048 |
| GIM* (ICLR '24) | Official | arxiv | 0.077 / 1.627 | 5.321 / 20.301 |
| RoMa / Tiny-RoMa (CVPR '24) | Official | arxiv | 0.453 / 0.0456 | 18.950 |
| DUSt3R (CVPR '24) | Official | arxiv | 3.639 | 26.813 |
| DeDoDe (3DV '24) | Official | arxiv | 0.311 (+MNN)/ 0.218 (+LG) | ❌ |
| Steerers (CVPR '24) | Official | arxiv | 0.150 | 26.425 |
| 2023 | ||||
| TopicFM[+] (AAAI '23) | Official | arxiv | ||
| ZippyPoint (CVPR '23) | Official | |||
| SphereGlue* (CVPRW '23) | Official | 0.548 / 0.070 | 0.804 / 7.407 | |
| LightGlue* (ICCV '23) | Official | arxiv | 0.417 / 0.093 / 0.184 / 0.128 | 2.828 / 8.852 / 8.100 / 8.128 |
| 2022 | ||||
| SE2-LoFTR (CVPRW '22) | Official | arxiv | 0.133 | 2.378 |
| Aspanformer (ECCV '22) | Official | arxiv | 0.384 | 11.73 |
| Matchformer (ACCV '22) | Official | arxiv | 0.232 | 6.101 |
| 2021 | ||||
| LoFTR (CVPR '21) | Official / Kornia | arxiv | 0.722 | 2.36 |
| Patch2Pix (CVPR '21) | Official / IMT | arxiv | 0.145 | 4.97 |
| 2020 | ||||
| LISRD (ECCV '20) | Official | arxiv | 12.319 / 3.823/ 12.305 | 0.187 / 1.191 / 0.165 |
| SuperGlue (CVPR '20) | Official / IMT | arxiv | 0.0894 | 2.178 |
| 2019 | ||||
| R2D2 (NeurIPS '19) | Official / IMT | arxiv | 0.429 | 6.79 |
| D2Net (CVPR '19) | Official / IMT | arxiv | 0.600 | 1.324 |
| pre 2019 | ||||
| DoGHardNet (NeurIPS '17) | IMT / Kornia | arxiv | 2.697 (+NN) / 0.526 (+LG) | 2.438(+NN) / 4.528 (+LG) |
| ORB-NN (ICCV '11) | OpenCV | ResearchGate | 0.088 | 0.092 |
| SIFT-NN (IJCV '04) | OpenCV | 0.124 | 0.117 | |
Our implementation of Patch2Pix (+ Patch2PixSuperGlue), R2D2, and D2Net are based on the Image Matching Toolbox (IMT). LoFTR and DeDoDe-Lightglue are from Kornia. Other models are based on the offical repos above.
Runtime benchmark is the average of 5 iterations over the 5 pairs of examples in the assets/example_pairs folder at image size 512x512. Benchmark is done using vismatch_test.py on an NVIDIA RTX A4000 GPU. Results rounded to the hundredths place.
SphereGluerequirestorch-geometricandtorch-cluster. Install with:pip install .[all] -f https://data.pyg.org/whl/torch-2.5.0+cu124.html(replacecu124withcpufor CPU). See PyG installation docs.SphereGluemodel runtimes are listed in the order:SIFT, SuperPointGIMmodel runtimes are listed in the order:LG, DKMv3LightGluemodel runtimes are listed in the order:SIFT, SuperPoint, Disk, ALIKEDKeypt2Subpxmodel runtimes are listed in the order:superpoint-lightglue, aliked-lightglue, xfeat, dedodeMINIMAmodel runtimes are listed in the order:superpoint-lightglue, LoFTR, RoMa (large), RoMa (tiny)RDDmodel runtimes are listed in the order:sparse, star (semi-dense), lightglue, aliked