Submission ID: 16b12c7c
mss_scale_8k
Processed: 21-06-16. Download link: 16b12c7ca1e5d8fe-614json.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: Xiaopeng Bi, Yu Chen, Xinyang Liu, Dehao Zhang, Ran Yan, Zheng Chai, Haotian Zhang, and Xiao Liu (contact)
- Keypoint: superpoint
- Descriptor: mss (0 none: 0 bytes)
- Number of features: 8000
- Summary: superpoint with 8k features, using the guided superglue matching
- Paper: N/A
- Website: N/A
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.60357 (±0.00000 over 1 run(s) / ±0.12920 over 9 scenes)
Rank (per category): 12 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 3567.3 | — | 647.5 | 0.514 Rank: 45/51 |
0.899 Rank: 35/51 |
0.31569 (±0.00000) Rank: 13/51 |
0.46989 (±0.00000) Rank: 13/51 |
FCS | 3574.9 | — | 882.4 | 0.469 Rank: 29/51 |
0.882 Rank: 30/51 |
0.68557 (±0.00000) Rank: 2/51 |
0.79310 (±0.00000) Rank: 3/51 |
LMS | 3586.0 | — | 673.7 | 0.462 Rank: 32/51 |
0.692 Rank: 18/51 |
0.60918 (±0.00000) Rank: 5/51 |
0.72666 (±0.00000) Rank: 7/51 |
LB | 3573.9 | — | 595.4 | 0.459 Rank: 39/51 |
0.713 Rank: 33/51 |
0.51910 (±0.00000) Rank: 13/51 |
0.62973 (±0.00000) Rank: 8/51 |
MC | 3585.0 | — | 746.0 | 0.486 Rank: 48/51 |
0.868 Rank: 38/51 |
0.39496 (±0.00000) Rank: 13/51 |
0.54954 (±0.00000) Rank: 24/51 |
MR | 3576.2 | — | 692.6 | 0.449 Rank: 48/51 |
0.900 Rank: 33/51 |
0.31401 (±0.00000) Rank: 23/51 |
0.43409 (±0.00000) Rank: 22/51 |
PSM | 3576.8 | — | 605.4 | 0.393 Rank: 42/51 |
0.642 Rank: 31/51 |
0.26433 (±0.00000) Rank: 6/51 |
0.43008 (±0.00000) Rank: 6/51 |
SF | 3586.0 | — | 796.7 | 0.412 Rank: 42/51 |
0.797 Rank: 32/51 |
0.54908 (±0.00000) Rank: 12/51 |
0.68465 (±0.00000) Rank: 9/51 |
SPC | 3586.0 | — | 683.5 | 0.444 Rank: 46/51 |
0.820 Rank: 29/51 |
0.56077 (±0.00000) Rank: 10/51 |
0.71439 (±0.00000) Rank: 10/51 |
Avg | 3579.1 | — | 702.6 | 0.454 Rank: 46/51 |
0.801 Rank: 33/51 |
0.46808 (±0.00000) Rank: 12/51 |
0.60357 (±0.00000) Rank: 12/51 |
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/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09524 over 9 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 3567.3 | 649.21 | 100.00 Rank: 1/51 |
3253.60 Rank: 30/51 |
5.053 Rank: 23/51 |
0.36289 Rank: 7/51 |
0.59256 (±0.00000) Rank: 5/51 |
0.73168 (±0.00000) Rank: 6/51 |
FCS | 3574.9 | 897.67 | 98.40 Rank: 14/51 |
4208.09 Rank: 33/51 |
5.310 Rank: 10/51 |
0.22592 Rank: 13/51 |
0.77428 (±0.00000) Rank: 5/51 |
0.82676 (±0.00000) Rank: 9/51 |
LMS | 3586.0 | 706.39 | 99.21 Rank: 22/51 |
2763.04 Rank: 31/51 |
5.424 Rank: 3/51 |
0.31227 Rank: 22/51 |
0.85614 (±0.00000) Rank: 5/51 |
0.90491 (±0.00000) Rank: 7/51 |
LB | 3573.9 | 707.15 | 98.36 Rank: 1/51 |
3232.69 Rank: 31/51 |
5.299 Rank: 13/51 |
0.49290 Rank: 30/51 |
0.74427 (±0.00000) Rank: 7/51 |
0.82689 (±0.00000) Rank: 7/51 |
MC | 3585.0 | 732.31 | 99.87 Rank: 23/51 |
3561.87 Rank: 36/51 |
5.446 Rank: 14/51 |
0.34694 Rank: 18/51 |
0.56670 (±0.00000) Rank: 12/51 |
0.71226 (±0.00000) Rank: 11/51 |
MR | 3576.2 | 681.87 | 94.33 Rank: 27/51 |
3743.07 Rank: 34/51 |
4.790 Rank: 14/51 |
0.47950 Rank: 17/51 |
0.46375 (±0.00000) Rank: 19/51 |
0.58240 (±0.00000) Rank: 17/51 |
PSM | 3576.8 | 602.22 | 99.68 Rank: 8/51 |
3970.13 Rank: 29/51 |
4.682 Rank: 7/51 |
0.32321 Rank: 5/51 |
0.65060 (±0.00000) Rank: 8/51 |
0.73574 (±0.00000) Rank: 7/51 |
SF | 3586.0 | 784.27 | 99.81 Rank: 8/51 |
4533.91 Rank: 35/51 |
5.121 Rank: 12/51 |
0.27693 Rank: 2/51 |
0.79114 (±0.00000) Rank: 5/51 |
0.86986 (±0.00000) Rank: 3/51 |
SPC | 3586.0 | 700.27 | 100.00 Rank: 1/51 |
3588.79 Rank: 36/51 |
5.332 Rank: 13/51 |
0.42611 Rank: 12/51 |
0.76637 (±0.00000) Rank: 3/51 |
0.85565 (±0.00000) Rank: 2/51 |
Avg | 3579.1 | 717.93 | 98.85 Rank: 11/51 |
3650.58 Rank: 30/51 |
5.162 Rank: 11/51 |
0.36074 Rank: 4/51 |
0.68954 (±0.00000) Rank: 2/51 |
0.78290 (±0.00000) Rank: 2/51 |
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/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.79766 (±0.00000 over 1 run(s) / ±0.05557 over 3 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 3586.0 | — | 679.5 | 0.055 Rank: 39/51 |
0.012 Rank: 9/51 |
0.63495 (±0.00000) Rank: 2/51 |
0.76657 (±0.00000) Rank: 2/51 |
Pond | 3586.0 | — | 740.8 | 0.067 Rank: 39/51 |
0.046 Rank: 31/51 |
0.62285 (±0.00000) Rank: 3/51 |
0.75070 (±0.00000) Rank: 2/51 |
Tree | 3586.0 | — | 502.8 | 0.048 Rank: 39/51 |
0.023 Rank: 1/51 |
0.78852 (±0.00000) Rank: 7/51 |
0.87572 (±0.00000) Rank: 3/51 |
Avg | 3586.0 | — | 641.0 | 0.057 Rank: 39/51 |
0.027 Rank: 27/51 |
0.68211 (±0.00000) Rank: 2/51 |
0.79766 (±0.00000) Rank: 2/51 |
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/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13869 over 3 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 3586.0 | 717.06 | 85.30 Rank: 4/51 |
2191.37 Rank: 21/51 |
3.372 Rank: 18/51 |
14.29748 Rank: 37/51 |
0.59667 (±0.00000) Rank: 3/51 |
0.67603 (±0.00000) Rank: 3/51 |
Pond | 3586.0 | 780.99 | 69.30 Rank: 22/51 |
1873.45 Rank: 27/51 |
2.907 Rank: 23/51 |
0.42857 Rank: 17/51 |
0.30380 (±0.00000) Rank: 8/51 |
0.33634 (±0.00000) Rank: 5/51 |
Tree | 3586.0 | 482.21 | 70.87 Rank: 26/51 |
1122.47 Rank: 22/51 |
3.047 Rank: 9/51 |
6.28442 Rank: 32/51 |
0.47687 (±0.00000) Rank: 6/51 |
0.50259 (±0.00000) Rank: 8/51 |
Avg | 3586.0 | 660.09 | 75.16 Rank: 18/51 |
1729.10 Rank: 21/51 |
3.109 Rank: 17/51 |
7.00349 Rank: 35/51 |
0.45911 (±0.00000) Rank: 2/51 |
0.50499 (±0.00000) Rank: 2/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.41212 (±0.00000 over 1 run(s) / ±0.13698 over 17 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 3567.8 | — | 430.1 | 0.25893 (±0.00000) Rank: 10/51 |
0.44598 (±0.00000) Rank: 3/51 |
Bangkok (BGK) | 3465.9 | — | 595.4 | 0.06600 (±0.00000) Rank: 14/51 |
0.18561 (±0.00000) Rank: 12/51 |
Barcelona (BCN) | 3526.2 | — | 402.9 | 0.13993 (±0.00000) Rank: 5/51 |
0.23919 (±0.00000) Rank: 3/51 |
Buenos Aires (BAR) | 3586.0 | — | 395.6 | 0.21279 (±0.00000) Rank: 10/51 |
0.38311 (±0.00000) Rank: 10/51 |
Cambridge (CAM) | 3519.4 | — | 403.8 | 0.31370 (±0.00000) Rank: 10/51 |
0.46610 (±0.00000) Rank: 3/51 |
Cannes (CAN) | 3509.4 | — | 472.1 | 0.42765 (±0.00000) Rank: 2/51 |
0.54194 (±0.00000) Rank: 2/51 |
Chicago (CHI) | 3497.4 | — | 301.3 | 0.17910 (±0.00000) Rank: 11/51 |
0.29385 (±0.00000) Rank: 11/51 |
Helsinki (HEL) | 3577.0 | — | 752.7 | 0.37732 (±0.00000) Rank: 11/51 |
0.58402 (±0.00000) Rank: 6/51 |
Madrid (MAD) | 3558.3 | — | 284.2 | 0.08875 (±0.00000) Rank: 9/51 |
0.21033 (±0.00000) Rank: 9/51 |
Mountain View (MTV) | 3552.2 | — | 340.0 | 0.25234 (±0.00000) Rank: 9/51 |
0.40508 (±0.00000) Rank: 8/51 |
New Orleans (NOR) | 3530.8 | — | 316.8 | 0.30118 (±0.00000) Rank: 7/51 |
0.40858 (±0.00000) Rank: 2/51 |
San Francisco (SF) | 3463.3 | — | 441.0 | 0.19423 (±0.00000) Rank: 10/51 |
0.34856 (±0.00000) Rank: 9/51 |
Singapore (SG) | 3531.6 | — | 373.5 | 0.32468 (±0.00000) Rank: 2/51 |
0.43734 (±0.00000) Rank: 2/51 |
Sydney (SYD) | 3580.3 | — | 416.3 | 0.37031 (±0.00000) Rank: 1/51 |
0.52533 (±0.00000) Rank: 1/51 |
Tokyo (TOK) | 3585.6 | — | 496.4 | 0.60784 (±0.00000) Rank: 2/51 |
0.74853 (±0.00000) Rank: 2/51 |
Toronto (TOR) | 3552.5 | — | 302.3 | 0.23120 (±0.00000) Rank: 2/51 |
0.39960 (±0.00000) Rank: 2/51 |
Zurich (ZRH) | 3563.6 | — | 478.7 | 0.27835 (±0.00000) Rank: 2/51 |
0.38282 (±0.00000) Rank: 2/51 |
Average (Avg) | 3539.3 | — | 423.7 | 0.27202 (±0.00000) Rank: 7/51 |
0.41212 (±0.00000) Rank: 2/51 |
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/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15450 over 17 scenes)
Rank (per category): 3 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 3567.8 | 280.69 | 92.16 Rank: 8/51 |
2044.63 Rank: 13/51 |
3.893 Rank: 1/51 |
26.70186 Rank: 23/51 |
0.38070 (±0.00000) Rank: 3/51 |
0.49753 (±0.00000) Rank: 5/51 |
BGK | 3465.9 | 408.30 | 97.33 Rank: 5/51 |
3615.71 Rank: 11/51 |
3.679 Rank: 6/51 |
12.56259 Rank: 11/51 |
0.02649 (±0.00000) Rank: 9/51 |
0.08630 (±0.00000) Rank: 9/51 |
BCN | 3526.2 | 241.84 | 85.76 Rank: 9/51 |
1704.84 Rank: 11/51 |
3.819 Rank: 1/51 |
29.13769 Rank: 25/51 |
0.15330 (±0.00000) Rank: 7/51 |
0.24380 (±0.00000) Rank: 7/51 |
BAR | 3586.0 | 228.09 | 86.25 Rank: 9/51 |
1702.09 Rank: 11/51 |
3.253 Rank: 6/51 |
16.07991 Rank: 21/51 |
0.14387 (±0.00000) Rank: 10/51 |
0.24531 (±0.00000) Rank: 10/51 |
CAM | 3519.4 | 250.21 | 89.93 Rank: 3/51 |
1815.33 Rank: 10/51 |
3.551 Rank: 3/51 |
28.45667 Rank: 26/51 |
0.19961 (±0.00000) Rank: 3/51 |
0.28865 (±0.00000) Rank: 4/51 |
CAN | 3509.4 | 260.75 | 82.19 Rank: 6/51 |
1334.51 Rank: 12/51 |
3.559 Rank: 1/51 |
24.29951 Rank: 27/51 |
0.08515 (±0.00000) Rank: 7/51 |
0.14467 (±0.00000) Rank: 7/51 |
CHI | 3497.4 | 265.95 | 88.13 Rank: 9/51 |
663.56 Rank: 12/51 |
5.291 Rank: 4/51 |
46.49399 Rank: 19/51 |
0.12281 (±0.00000) Rank: 9/51 |
0.20309 (±0.00000) Rank: 9/51 |
HEL | 3577.0 | 534.40 | 94.13 Rank: 8/51 |
3257.33 Rank: 13/51 |
3.970 Rank: 2/51 |
13.09516 Rank: 19/51 |
0.32616 (±0.00000) Rank: 3/51 |
0.44149 (±0.00000) Rank: 6/51 |
MAD | 3558.3 | 183.40 | 92.73 Rank: 2/51 |
1943.32 Rank: 12/51 |
3.351 Rank: 6/51 |
7.41265 Rank: 28/51 |
0.09991 (±0.00000) Rank: 1/51 |
0.21363 (±0.00000) Rank: 1/51 |
MTV | 3552.2 | 249.05 | 93.11 Rank: 4/51 |
1949.85 Rank: 11/51 |
3.828 Rank: 3/51 |
17.59701 Rank: 28/51 |
0.29377 (±0.00000) Rank: 1/51 |
0.43316 (±0.00000) Rank: 1/51 |
NOR | 3530.8 | 203.64 | 86.27 Rank: 6/51 |
1624.57 Rank: 9/51 |
3.415 Rank: 2/51 |
13.09432 Rank: 23/51 |
0.27761 (±0.00000) Rank: 3/51 |
0.36264 (±0.00000) Rank: 3/51 |
SF | 3463.3 | 285.80 | 95.73 Rank: 4/51 |
2272.34 Rank: 9/51 |
3.729 Rank: 2/51 |
22.01609 Rank: 28/51 |
0.27487 (±0.00000) Rank: 2/51 |
0.41551 (±0.00000) Rank: 2/51 |
SG | 3531.6 | 229.56 | 78.63 Rank: 6/51 |
1529.16 Rank: 10/51 |
3.266 Rank: 4/51 |
17.67542 Rank: 23/51 |
0.21451 (±0.00000) Rank: 3/51 |
0.28706 (±0.00000) Rank: 3/51 |
SYD | 3580.3 | 252.78 | 91.10 Rank: 2/51 |
2004.94 Rank: 9/51 |
3.499 Rank: 3/51 |
22.18260 Rank: 27/51 |
0.31459 (±0.00000) Rank: 2/51 |
0.40906 (±0.00000) Rank: 2/51 |
TOK | 3585.6 | 307.95 | 93.60 Rank: 2/51 |
2889.00 Rank: 11/51 |
3.754 Rank: 3/51 |
14.86510 Rank: 22/51 |
0.67631 (±0.00000) Rank: 2/51 |
0.75179 (±0.00000) Rank: 2/51 |
TOR | 3552.5 | 187.80 | 88.93 Rank: 8/51 |
1778.84 Rank: 9/51 |
3.346 Rank: 3/51 |
16.63449 Rank: 20/51 |
0.18336 (±0.00000) Rank: 3/51 |
0.31024 (±0.00000) Rank: 3/51 |
ZRH | 3563.6 | 293.91 | 89.01 Rank: 3/51 |
2415.64 Rank: 10/51 |
3.445 Rank: 1/51 |
21.82341 Rank: 27/51 |
0.11544 (±0.00000) Rank: 8/51 |
0.18627 (±0.00000) Rank: 8/51 |
Avg | 3539.3 | 274.36 | 89.71 Rank: 7/51 |
2032.10 Rank: 11/51 |
3.685 Rank: 3/51 |
20.59579 Rank: 27/51 |
0.22873 (±0.00000) Rank: 3/51 |
0.32472 (±0.00000) Rank: 3/51 |
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/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/16b12c7ca1e5d8fe-614json/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)