Submission ID: 1551c58b
ytmss
Processed: 21-06-16. Download link: 1551c58b4434d49c-b98323d91215485c-ytmss.json.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.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: (contact)
- Keypoint: ytmss
- Descriptor: ytmss (2048 float32: 8192 bytes)
- Number of features: 2048
- Summary: ytmss
- Paper: N/A
- Website: N/A
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.47634 (±0.00000 over 1 run(s) / ±0.13023 over 9 scenes)
Rank (per category): 49 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2043.4 | — | 177.0 | 0.422 Rank: 69/87 |
0.918 Rank: 25/87 |
0.26385 (±0.00000) Rank: 47/87 |
0.40500 (±0.00000) Rank: 45/87 |
FCS | 2048.0 | — | 209.7 | 0.324 Rank: 83/87 |
0.875 Rank: 16/87 |
0.54241 (±0.00000) Rank: 50/87 |
0.67993 (±0.00000) Rank: 48/87 |
LMS | 2045.6 | — | 417.1 | 0.426 Rank: 35/87 |
0.709 Rank: 9/87 |
0.50362 (±0.00000) Rank: 53/87 |
0.62190 (±0.00000) Rank: 55/87 |
LB | 2048.0 | — | 209.0 | 0.360 Rank: 64/87 |
0.746 Rank: 14/87 |
0.42571 (±0.00000) Rank: 47/87 |
0.55136 (±0.00000) Rank: 44/87 |
MC | 2048.0 | — | 165.0 | 0.366 Rank: 79/87 |
0.861 Rank: 38/87 |
0.24177 (±0.00000) Rank: 47/87 |
0.38321 (±0.00000) Rank: 65/87 |
MR | 2038.2 | — | 212.8 | 0.433 Rank: 24/87 |
0.915 Rank: 18/87 |
0.19904 (±0.00000) Rank: 68/87 |
0.29108 (±0.00000) Rank: 68/87 |
PSM | 2048.0 | — | 140.1 | 0.270 Rank: 86/87 |
0.592 Rank: 46/87 |
0.16407 (±0.00000) Rank: 47/87 |
0.30000 (±0.00000) Rank: 45/87 |
SF | 2048.0 | — | 244.1 | 0.361 Rank: 53/87 |
0.829 Rank: 9/87 |
0.36112 (±0.00000) Rank: 66/87 |
0.52582 (±0.00000) Rank: 60/87 |
SPC | 2048.0 | — | 174.9 | 0.325 Rank: 80/87 |
0.810 Rank: 23/87 |
0.35950 (±0.00000) Rank: 54/87 |
0.52880 (±0.00000) Rank: 52/87 |
Avg | 2046.1 | — | 216.6 | 0.365 Rank: 71/87 |
0.806 Rank: 16/87 |
0.34012 (±0.00000) Rank: 53/87 |
0.47634 (±0.00000) Rank: 49/87 |
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/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11421 over 9 scenes)
Rank (per category): 44 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2043.4 | 176.88 | 100.00 Rank: 1/87 |
884.08 Rank: 78/87 |
4.643 Rank: 68/87 |
0.41323 Rank: 45/87 |
0.51689 (±0.00000) Rank: 46/87 |
0.67034 (±0.00000) Rank: 46/87 |
FCS | 2048.0 | 212.45 | 97.40 Rank: 48/87 |
1410.78 Rank: 76/87 |
4.257 Rank: 67/87 |
0.24873 Rank: 33/87 |
0.72754 (±0.00000) Rank: 41/87 |
0.78698 (±0.00000) Rank: 43/87 |
LMS | 2045.6 | 441.85 | 99.07 Rank: 51/87 |
1131.41 Rank: 72/87 |
5.889 Rank: 12/87 |
0.30627 Rank: 52/87 |
0.81499 (±0.00000) Rank: 51/87 |
0.86862 (±0.00000) Rank: 54/87 |
LB | 2048.0 | 251.14 | 97.92 Rank: 50/87 |
1058.35 Rank: 70/87 |
4.964 Rank: 57/87 |
0.49146 Rank: 46/87 |
0.69453 (±0.00000) Rank: 42/87 |
0.79242 (±0.00000) Rank: 43/87 |
MC | 2048.0 | 163.30 | 99.88 Rank: 49/87 |
970.15 Rank: 77/87 |
4.486 Rank: 67/87 |
0.35890 Rank: 35/87 |
0.52100 (±0.00000) Rank: 45/87 |
0.67484 (±0.00000) Rank: 43/87 |
MR | 2038.2 | 210.91 | 92.80 Rank: 59/87 |
941.15 Rank: 77/87 |
4.617 Rank: 57/87 |
0.56276 Rank: 62/87 |
0.34775 (±0.00000) Rank: 62/87 |
0.47100 (±0.00000) Rank: 62/87 |
PSM | 2048.0 | 139.74 | 96.34 Rank: 46/87 |
1299.89 Rank: 72/87 |
3.812 Rank: 54/87 |
0.36945 Rank: 39/87 |
0.60757 (±0.00000) Rank: 45/87 |
0.69714 (±0.00000) Rank: 44/87 |
SF | 2048.0 | 240.33 | 99.40 Rank: 42/87 |
1326.18 Rank: 79/87 |
4.651 Rank: 61/87 |
0.29414 Rank: 42/87 |
0.72922 (±0.00000) Rank: 50/87 |
0.81995 (±0.00000) Rank: 45/87 |
SPC | 2048.0 | 179.67 | 100.00 Rank: 1/87 |
1143.57 Rank: 78/87 |
4.511 Rank: 66/87 |
0.51032 Rank: 60/87 |
0.71143 (±0.00000) Rank: 46/87 |
0.82110 (±0.00000) Rank: 42/87 |
Avg | 2046.1 | 224.03 | 98.09 Rank: 47/87 |
1129.51 Rank: 77/87 |
4.648 Rank: 60/87 |
0.39503 Rank: 45/87 |
0.63010 (±0.00000) Rank: 45/87 |
0.73360 (±0.00000) Rank: 44/87 |
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 10 images. 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/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.61631 (±0.00000 over 1 run(s) / ±0.02027 over 3 scenes)
Rank (per category): 44 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2030.6 | — | 136.8 | 0.026 Rank: 66/87 |
0.009 Rank: 58/87 |
0.45465 (±0.00000) Rank: 45/87 |
0.60472 (±0.00000) Rank: 42/87 |
Pond | 2048.0 | — | 137.6 | 0.048 Rank: 52/87 |
0.050 Rank: 23/87 |
0.44689 (±0.00000) Rank: 44/87 |
0.59940 (±0.00000) Rank: 42/87 |
Tree | 2048.0 | — | 79.6 | 0.022 Rank: 73/87 |
0.021 Rank: 48/87 |
0.50022 (±0.00000) Rank: 52/87 |
0.64481 (±0.00000) Rank: 49/87 |
Avg | 2042.2 | — | 118.0 | 0.032 Rank: 73/87 |
0.027 Rank: 48/87 |
0.46725 (±0.00000) Rank: 46/87 |
0.61631 (±0.00000) Rank: 44/87 |
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.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12591 over 3 scenes)
Rank (per category): 61 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2030.6 | 149.09 | 82.58 Rank: 59/87 |
468.64 Rank: 68/87 |
3.257 Rank: 58/87 |
14.07974 Rank: 24/87 |
0.48569 (±0.00000) Rank: 61/87 |
0.58022 (±0.00000) Rank: 60/87 |
Pond | 2048.0 | 161.51 | 67.27 Rank: 50/87 |
409.44 Rank: 68/87 |
2.824 Rank: 53/87 |
0.42459 Rank: 31/87 |
0.24464 (±0.00000) Rank: 56/87 |
0.27838 (±0.00000) Rank: 57/87 |
Tree | 2048.0 | 78.64 | 66.51 Rank: 67/87 |
201.89 Rank: 69/87 |
2.655 Rank: 68/87 |
5.40484 Rank: 5/87 |
0.33064 (±0.00000) Rank: 63/87 |
0.37447 (±0.00000) Rank: 63/87 |
Avg | 2042.2 | 129.75 | 72.12 Rank: 65/87 |
359.99 Rank: 69/87 |
2.912 Rank: 67/87 |
6.63639 Rank: 12/87 |
0.35366 (±0.00000) Rank: 61/87 |
0.41102 (±0.00000) Rank: 61/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.35313 (±0.00000 over 1 run(s) / ±0.13190 over 17 scenes)
Rank (per category): 35 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 130.1 | 0.17946 (±0.00000) Rank: 39/87 |
0.30045 (±0.00000) Rank: 40/87 |
Bangkok (BGK) | 2048.0 | — | 206.3 | 0.05161 (±0.00000) Rank: 37/87 |
0.15012 (±0.00000) Rank: 37/87 |
Barcelona (BCN) | 2048.0 | — | 192.2 | 0.10696 (±0.00000) Rank: 33/87 |
0.19780 (±0.00000) Rank: 32/87 |
Buenos Aires (BAR) | 2048.0 | — | 170.8 | 0.20457 (±0.00000) Rank: 39/87 |
0.34566 (±0.00000) Rank: 37/87 |
Cambridge (CAM) | 2048.0 | — | 152.8 | 0.26370 (±0.00000) Rank: 39/87 |
0.39932 (±0.00000) Rank: 36/87 |
Cannes (CAN) | 2045.6 | — | 198.8 | 0.37880 (±0.00000) Rank: 34/87 |
0.49493 (±0.00000) Rank: 33/87 |
Chicago (CHI) | 2048.0 | — | 101.3 | 0.17322 (±0.00000) Rank: 32/87 |
0.27561 (±0.00000) Rank: 35/87 |
Helsinki (HEL) | 2048.0 | — | 291.1 | 0.31753 (±0.00000) Rank: 39/87 |
0.51598 (±0.00000) Rank: 39/87 |
Madrid (MAD) | 2048.0 | — | 105.9 | 0.06869 (±0.00000) Rank: 38/87 |
0.15471 (±0.00000) Rank: 40/87 |
Mountain View (MTV) | 2048.0 | — | 154.9 | 0.18711 (±0.00000) Rank: 35/87 |
0.32109 (±0.00000) Rank: 36/87 |
New Orleans (NOR) | 2045.3 | — | 131.9 | 0.25385 (±0.00000) Rank: 33/87 |
0.36095 (±0.00000) Rank: 31/87 |
San Francisco (SF) | 2047.9 | — | 180.6 | 0.17743 (±0.00000) Rank: 35/87 |
0.32310 (±0.00000) Rank: 34/87 |
Singapore (SG) | 2043.3 | — | 156.8 | 0.28924 (±0.00000) Rank: 34/87 |
0.40570 (±0.00000) Rank: 35/87 |
Sydney (SYD) | 2048.0 | — | 172.6 | 0.23144 (±0.00000) Rank: 39/87 |
0.38777 (±0.00000) Rank: 40/87 |
Tokyo (TOK) | 2048.0 | — | 199.0 | 0.56127 (±0.00000) Rank: 35/87 |
0.70686 (±0.00000) Rank: 35/87 |
Toronto (TOR) | 2048.0 | — | 134.2 | 0.16240 (±0.00000) Rank: 37/87 |
0.30480 (±0.00000) Rank: 36/87 |
Zurich (ZRH) | 2047.9 | — | 197.8 | 0.26323 (±0.00000) Rank: 24/87 |
0.35842 (±0.00000) Rank: 26/87 |
Average (Avg) | 2047.4 | — | 169.2 | 0.22768 (±0.00000) Rank: 34/87 |
0.35313 (±0.00000) Rank: 35/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15195 over 17 scenes)
Rank (per category): 37 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 82.76 | 75.78 Rank: 46/87 |
480.93 Rank: 51/87 |
3.250 Rank: 48/87 |
21.51436 Rank: 11/87 |
0.22134 (±0.00000) Rank: 43/87 |
0.29066 (±0.00000) Rank: 44/87 |
BGK | 2048.0 | 142.24 | 95.33 Rank: 36/87 |
1130.42 Rank: 47/87 |
3.546 Rank: 47/87 |
13.34376 Rank: 26/87 |
0.01858 (±0.00000) Rank: 47/87 |
0.05719 (±0.00000) Rank: 48/87 |
BCN | 2048.0 | 114.20 | 81.11 Rank: 38/87 |
681.98 Rank: 40/87 |
3.545 Rank: 42/87 |
25.58010 Rank: 19/87 |
0.12054 (±0.00000) Rank: 33/87 |
0.19753 (±0.00000) Rank: 32/87 |
BAR | 2048.0 | 97.65 | 73.94 Rank: 42/87 |
525.72 Rank: 45/87 |
3.150 Rank: 43/87 |
12.05892 Rank: 9/87 |
0.08781 (±0.00000) Rank: 43/87 |
0.14801 (±0.00000) Rank: 43/87 |
CAM | 2048.0 | 94.63 | 78.55 Rank: 41/87 |
618.62 Rank: 46/87 |
3.160 Rank: 47/87 |
18.95816 Rank: 8/87 |
0.13257 (±0.00000) Rank: 40/87 |
0.18887 (±0.00000) Rank: 41/87 |
CAN | 2045.6 | 108.19 | 71.71 Rank: 34/87 |
423.24 Rank: 39/87 |
3.282 Rank: 39/87 |
16.08416 Rank: 15/87 |
0.05140 (±0.00000) Rank: 35/87 |
0.08544 (±0.00000) Rank: 36/87 |
CHI | 2048.0 | 89.14 | 82.05 Rank: 40/87 |
254.70 Rank: 45/87 |
3.951 Rank: 39/87 |
47.41150 Rank: 28/87 |
0.06410 (±0.00000) Rank: 35/87 |
0.13014 (±0.00000) Rank: 35/87 |
HEL | 2048.0 | 205.13 | 90.67 Rank: 44/87 |
1181.07 Rank: 48/87 |
3.719 Rank: 45/87 |
13.19528 Rank: 16/87 |
0.35230 (±0.00000) Rank: 14/87 |
0.48289 (±0.00000) Rank: 16/87 |
MAD | 2048.0 | 69.31 | 83.93 Rank: 42/87 |
602.69 Rank: 45/87 |
3.173 Rank: 45/87 |
4.39748 Rank: 10/87 |
0.05459 (±0.00000) Rank: 41/87 |
0.12886 (±0.00000) Rank: 40/87 |
MTV | 2048.0 | 110.92 | 89.95 Rank: 38/87 |
802.27 Rank: 42/87 |
3.654 Rank: 43/87 |
17.04284 Rank: 36/87 |
0.25175 (±0.00000) Rank: 34/87 |
0.37457 (±0.00000) Rank: 35/87 |
NOR | 2045.3 | 86.66 | 76.37 Rank: 38/87 |
531.91 Rank: 41/87 |
3.072 Rank: 43/87 |
8.94176 Rank: 11/87 |
0.17913 (±0.00000) Rank: 35/87 |
0.24571 (±0.00000) Rank: 37/87 |
SF | 2047.9 | 115.01 | 90.09 Rank: 40/87 |
837.73 Rank: 43/87 |
3.496 Rank: 42/87 |
19.56924 Rank: 22/87 |
0.22971 (±0.00000) Rank: 36/87 |
0.37269 (±0.00000) Rank: 35/87 |
SG | 2043.3 | 96.61 | 72.59 Rank: 36/87 |
598.90 Rank: 40/87 |
3.157 Rank: 43/87 |
15.66356 Rank: 14/87 |
0.17433 (±0.00000) Rank: 34/87 |
0.23014 (±0.00000) Rank: 34/87 |
SYD | 2048.0 | 103.87 | 84.61 Rank: 38/87 |
823.15 Rank: 41/87 |
3.256 Rank: 42/87 |
18.82238 Rank: 16/87 |
0.27087 (±0.00000) Rank: 27/87 |
0.35594 (±0.00000) Rank: 29/87 |
TOK | 2048.0 | 124.55 | 90.05 Rank: 39/87 |
1008.43 Rank: 46/87 |
3.602 Rank: 41/87 |
13.93856 Rank: 13/87 |
0.60042 (±0.00000) Rank: 39/87 |
0.67350 (±0.00000) Rank: 39/87 |
TOR | 2048.0 | 83.65 | 83.84 Rank: 39/87 |
715.73 Rank: 41/87 |
3.191 Rank: 33/87 |
15.19211 Rank: 13/87 |
0.14158 (±0.00000) Rank: 37/87 |
0.25297 (±0.00000) Rank: 38/87 |
ZRH | 2047.9 | 119.12 | 82.54 Rank: 37/87 |
934.93 Rank: 43/87 |
3.222 Rank: 44/87 |
19.16488 Rank: 26/87 |
0.11133 (±0.00000) Rank: 22/87 |
0.17253 (±0.00000) Rank: 28/87 |
Avg | 2047.4 | 108.45 | 82.54 Rank: 41/87 |
714.85 Rank: 45/87 |
3.378 Rank: 44/87 |
17.69877 Rank: 13/87 |
0.18014 (±0.00000) Rank: 37/87 |
0.25810 (±0.00000) Rank: 37/87 |
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 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1551c58b4434d49c-b98323d91215485c-ytmss.json/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)