Submission ID: 00589
SuperPoint-128d + SuperGlue + DEGENSAC
Processed: 20-05-24. Download link: sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
Metadata
- Authors: Paul-Edouard Sarlin (contact)
- Keypoint: superpoint-k2048-nms3-refine2-r1600forcecubic
- Descriptor: superpoint-down128 (128 float32: 512 bytes)
- Number of features: 2048
- Summary: SuperPoint detector (2048 keypoints, NMS with radius 3, refinement, on 1600-pixel images) and descriptor; reduced to 128d with a linear autoencoder. SuperGlue matcher (outdoor model, 150 Sinkhorn iterations). For stereo, DEGENSAC model estimator (1.2 pixels inlier threshold).
- Paper: https://arxiv.org/abs/1911.11763
- Website: https://psarlin.com/superglue
- Origin: Submission
- Flags: is_submission, is_challenge_2020
Phototourism / Stereo track
mAA at 10 degrees: 0.55214 (±0.00098 over 3 run(s) / ±0.14670 over 9 scenes)
Rank (per category): 5 (of 108)
Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
bm | 1959.4 | — | — | 273.8 | 0.408 Rank: 92/108 |
0.877 Rank: 70/108 |
0.33284 (±0.00202) Rank: 5/108 |
0.48433 (±0.00063) Rank: 5/108 |
fcs | 2044.8 | — | — | 414.9 | 0.384 Rank: 23/108 |
0.859 Rank: 64/108 |
0.63168 (±0.00100) Rank: 5/108 |
0.75476 (±0.00070) Rank: 4/108 |
lms | 1794.2 | — | — | 388.8 | 0.378 Rank: 42/108 |
0.678 Rank: 60/108 |
0.59930 (±0.00125) Rank: 3/108 |
0.72363 (±0.00056) Rank: 3/108 |
lb | 2009.4 | — | — | 273.8 | 0.348 Rank: 33/108 |
0.689 Rank: 44/108 |
0.48166 (±0.00202) Rank: 5/108 |
0.59955 (±0.00161) Rank: 5/108 |
mc | 2046.9 | — | — | 288.7 | 0.373 Rank: 40/108 |
0.837 Rank: 80/108 |
0.29726 (±0.00202) Rank: 5/108 |
0.44566 (±0.00409) Rank: 22/108 |
mr | 1796.9 | — | — | 240.3 | 0.403 Rank: 33/108 |
0.887 Rank: 71/108 |
0.22202 (±0.00215) Rank: 35/108 |
0.32076 (±0.00389) Rank: 36/108 |
psm | 2045.4 | — | — | 272.2 | 0.286 Rank: 41/108 |
0.566 Rank: 12/108 |
0.21376 (±0.00104) Rank: 4/108 |
0.36247 (±0.00107) Rank: 4/108 |
sf | 2019.5 | — | — | 412.6 | 0.352 Rank: 35/108 |
0.775 Rank: 71/108 |
0.47701 (±0.00049) Rank: 5/108 |
0.62478 (±0.00100) Rank: 4/108 |
spc | 2046.1 | — | — | 319.1 | 0.345 Rank: 35/108 |
0.779 Rank: 69/108 |
0.48494 (±0.00178) Rank: 5/108 |
0.65333 (±0.00096) Rank: 5/108 |
avg | 1973.6 | — | — | 320.5 | 0.364 Rank: 36/108 |
0.772 Rank: 58/108 |
0.41561 (±0.00116) Rank: 5/108 |
0.55214 (±0.00098) Rank: 5/108 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— british museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/stereo/00009.jpg)
— florence cathedral side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/stereo/00009.jpg)
— lincoln memorial statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— london bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/stereo/00009.jpg)
— milan cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/stereo/00009.jpg)
— mount rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/stereo/00009.jpg)
— piazza san marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/stereo/00009.jpg)
— sagrada familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/stereo/00009.jpg)
— saint paul's cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism / Multiview track
mAA at 10 degrees: 0.75283 (±0.00086 over 3 run(s) / ±0.11474 over 9 scenes)
Rank (per category): 10 (of 108)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
bm | 1959.4 | 364.89 | 99.82 Rank: 26/108 |
1944.55 Rank: 18/108 |
4.365 Rank: 90/108 |
0.36920 Rank: 7/108 |
0.57024 (±0.00248) Rank: 9/108 |
0.71225 (±0.00282) Rank: 9/108 |
fcs | 2044.8 | 524.36 | 97.44 Rank: 45/108 |
2451.01 Rank: 12/108 |
4.734 Rank: 17/108 |
0.27076 Rank: 43/108 |
0.72751 (±0.00701) Rank: 19/108 |
0.78507 (±0.00823) Rank: 25/108 |
lms | 1794.2 | 497.49 | 99.47 Rank: 6/108 |
2170.37 Rank: 5/108 |
4.776 Rank: 55/108 |
0.29963 Rank: 33/108 |
0.84796 (±0.00402) Rank: 7/108 |
0.90321 (±0.00474) Rank: 7/108 |
lb | 2009.4 | 417.97 | 98.74 Rank: 8/108 |
1846.68 Rank: 22/108 |
4.860 Rank: 28/108 |
0.49836 Rank: 37/108 |
0.68624 (±0.00203) Rank: 15/108 |
0.79174 (±0.00125) Rank: 15/108 |
mc | 2046.9 | 371.17 | 99.75 Rank: 26/108 |
2018.42 Rank: 20/108 |
4.457 Rank: 41/108 |
0.38618 Rank: 21/108 |
0.51903 (±0.00541) Rank: 19/108 |
0.66684 (±0.00652) Rank: 20/108 |
mr | 1796.9 | 318.95 | 95.43 Rank: 1/108 |
1504.74 Rank: 62/108 |
4.419 Rank: 34/108 |
0.54027 Rank: 33/108 |
0.35756 (±0.00910) Rank: 36/108 |
0.48992 (±0.01051) Rank: 24/108 |
psm | 2045.4 | 379.81 | 99.26 Rank: 3/108 |
2402.00 Rank: 13/108 |
4.128 Rank: 16/108 |
0.33149 Rank: 8/108 |
0.65917 (±0.00940) Rank: 5/108 |
0.74727 (±0.00892) Rank: 4/108 |
sf | 2019.5 | 544.60 | 99.76 Rank: 11/108 |
2695.16 Rank: 7/108 |
4.664 Rank: 27/108 |
0.30710 Rank: 17/108 |
0.76237 (±0.00173) Rank: 10/108 |
0.84577 (±0.00263) Rank: 11/108 |
spc | 2046.1 | 446.15 | 100.00 Rank: 1/108 |
2143.68 Rank: 17/108 |
4.730 Rank: 25/108 |
0.44919 Rank: 16/108 |
0.73368 (±0.00119) Rank: 14/108 |
0.83336 (±0.00107) Rank: 11/108 |
avg | 1973.6 | 429.49 | 98.85 Rank: 3/108 |
2130.73 Rank: 17/108 |
4.570 Rank: 25/108 |
0.38357 Rank: 11/108 |
0.65153 (±0.00089) Rank: 11/108 |
0.75283 (±0.00086) Rank: 10/108 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 25 images (displaying: 10). Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— british museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/british_museum/multiview/bagsize25-bag00-image09.jpg)
— florence cathedral side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/florence_cathedral_side/multiview/bagsize25-bag00-image09.jpg)
— lincoln memorial statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/lincoln_memorial_statue/multiview/bagsize25-bag00-image09.jpg)
— london bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/london_bridge/multiview/bagsize25-bag02-image09.jpg)
— milan cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/milan_cathedral/multiview/bagsize25-bag00-image09.jpg)
— mount rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/mount_rushmore/multiview/bagsize25-bag00-image09.jpg)
— piazza san marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/piazza_san_marco/multiview/bagsize25-bag00-image09.jpg)
— sagrada familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/sagrada_familia/multiview/bagsize25-bag00-image09.jpg)
— saint paul's cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2020/viz/sid-00589-sp-k2048-nms3-refine2-r1600forcecubic-down128_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image09.jpg)