Submission ID: 00603
SuperPoint-128d-masked + SuperGlue + DEGENSAC
Processed: 20-05-30. Download link: sid-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-masked-d.001
- Descriptor: superpoint-down128 (128 float32: 512 bytes)
- Number of features: 2048
- Summary: SuperPoint detector (2048 keypoints, NMS with radius 3, confidence threshold 0.001, refinement, on 1600-pixel images). Detections on semantic classes sky and people are removed (segmentation from HFNetV2 trained on MIT ADE20K). SuperPoint descriptor, reduced to 128d with a linear autoencoder. SuperGlue matcher (outdoor model, 150 Sinkhorn iterations). For stereo, DEGENSAC model estimator (1.2 pixel 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: 0.56769 (±0.00034 over 3 run(s) / ±0.13842 over 9 scenes)
Rank (per category): 3 (of 108)
Scene | Features | Matches (matcher) |
Matches (filter) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
bm | 2035.9 | — | — | 334.3 | 0.425 Rank: 82/108 |
0.877 Rank: 71/108 |
0.33883 (±0.00311) Rank: 3/108 |
0.49414 (±0.00181) Rank: 3/108 |
fcs | 2048.0 | — | — | 502.1 | 0.407 Rank: 17/108 |
0.860 Rank: 60/108 |
0.64122 (±0.00042) Rank: 3/108 |
0.76250 (±0.00065) Rank: 3/108 |
lms | 2048.0 | — | — | 422.9 | 0.380 Rank: 40/108 |
0.674 Rank: 66/108 |
0.59865 (±0.00132) Rank: 4/108 |
0.72362 (±0.00091) Rank: 4/108 |
lb | 2045.2 | — | — | 380.2 | 0.386 Rank: 21/108 |
0.689 Rank: 43/108 |
0.49033 (±0.00311) Rank: 3/108 |
0.60681 (±0.00070) Rank: 3/108 |
mc | 2048.0 | — | — | 389.2 | 0.402 Rank: 28/108 |
0.841 Rank: 76/108 |
0.32015 (±0.00311) Rank: 3/108 |
0.47291 (±0.00148) Rank: 16/108 |
mr | 2000.6 | — | — | 426.6 | 0.452 Rank: 16/108 |
0.888 Rank: 69/108 |
0.25087 (±0.00152) Rank: 10/108 |
0.36269 (±0.00090) Rank: 7/108 |
psm | 2048.0 | — | — | 325.6 | 0.305 Rank: 31/108 |
0.581 Rank: 10/108 |
0.22452 (±0.00263) Rank: 3/108 |
0.37607 (±0.00353) Rank: 3/108 |
sf | 2048.0 | — | — | 475.6 | 0.365 Rank: 24/108 |
0.773 Rank: 73/108 |
0.50117 (±0.00242) Rank: 3/108 |
0.64568 (±0.00146) Rank: 3/108 |
spc | 2048.0 | — | — | 385.9 | 0.364 Rank: 28/108 |
0.781 Rank: 67/108 |
0.49747 (±0.00308) Rank: 3/108 |
0.66484 (±0.00164) Rank: 3/108 |
avg | 2041.1 | — | — | 404.7 | 0.387 Rank: 25/108 |
0.774 Rank: 55/108 |
0.42925 (±0.00030) Rank: 3/108 |
0.56769 (±0.00034) Rank: 3/108 |
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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism / Multiview track
mAA at 10 degrees: 0.76987 (±0.00122 over 3 run(s) / ±0.10723 over 9 scenes)
Rank (per category): 3 (of 108)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
bm | 2035.9 | 334.29 | 99.91 Rank: 12/108 |
1914.52 Rank: 21/108 |
4.622 Rank: 76/108 |
0.36096 Rank: 4/108 |
0.57935 (±0.00220) Rank: 5/108 |
0.72044 (±0.00331) Rank: 6/108 |
fcs | 2048.0 | 508.23 | 97.98 Rank: 19/108 |
2561.68 Rank: 7/108 |
5.038 Rank: 10/108 |
0.23423 Rank: 8/108 |
0.75273 (±0.00549) Rank: 3/108 |
0.81000 (±0.00514) Rank: 6/108 |
lms | 2048.0 | 442.56 | 99.49 Rank: 5/108 |
1963.42 Rank: 24/108 |
5.123 Rank: 22/108 |
0.24860 Rank: 1/108 |
0.86579 (±0.00186) Rank: 2/108 |
0.91480 (±0.00122) Rank: 2/108 |
lb | 2045.2 | 464.82 | 98.79 Rank: 1/108 |
2004.77 Rank: 15/108 |
5.320 Rank: 12/108 |
0.49328 Rank: 27/108 |
0.70707 (±0.00131) Rank: 10/108 |
0.80629 (±0.00119) Rank: 11/108 |
mc | 2048.0 | 384.11 | 99.88 Rank: 15/108 |
2054.16 Rank: 16/108 |
5.009 Rank: 15/108 |
0.34594 Rank: 9/108 |
0.56161 (±0.00064) Rank: 3/108 |
0.70723 (±0.00044) Rank: 2/108 |
mr | 2000.6 | 418.86 | 94.08 Rank: 16/108 |
1785.44 Rank: 28/108 |
4.922 Rank: 4/108 |
0.48607 Rank: 2/108 |
0.40395 (±0.00746) Rank: 6/108 |
0.52885 (±0.00963) Rank: 5/108 |
psm | 2048.0 | 324.07 | 98.56 Rank: 10/108 |
2325.25 Rank: 17/108 |
4.355 Rank: 7/108 |
0.32425 Rank: 4/108 |
0.65242 (±0.00636) Rank: 9/108 |
0.73579 (±0.00708) Rank: 8/108 |
sf | 2048.0 | 468.55 | 99.82 Rank: 10/108 |
2645.18 Rank: 8/108 |
4.974 Rank: 9/108 |
0.28238 Rank: 4/108 |
0.78041 (±0.00203) Rank: 3/108 |
0.86256 (±0.00177) Rank: 3/108 |
spc | 2048.0 | 396.25 | 100.00 Rank: 1/108 |
2167.87 Rank: 16/108 |
5.022 Rank: 11/108 |
0.43712 Rank: 12/108 |
0.74555 (±0.00173) Rank: 6/108 |
0.84288 (±0.00155) Rank: 4/108 |
avg | 2041.1 | 415.75 | 98.72 Rank: 8/108 |
2158.03 Rank: 15/108 |
4.932 Rank: 12/108 |
0.35698 Rank: 1/108 |
0.67210 (±0.00096) Rank: 3/108 |
0.76987 (±0.00122) Rank: 3/108 |
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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_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-00603-sp-k2048-nms3-refine2-r1600forcecubic-down128-masked-d.001_sg-t.2-it150_degensac-th1.2/phototourism/st_pauls_cathedral/multiview/bagsize25-bag00-image09.jpg)