Submission ID: 17bbf500
sp_sg_degen_adap
Processed: 21-06-07. Download link: 17bbf500989f99a2-sp_sg_degen_adap.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: cc (contact)
- Keypoint: sp
- Descriptor: sp (128 float32: 512 bytes)
- Number of features: 2048
- Summary: sp+sg, degenac, adapEG
- Paper: N/A
- Website: N/A
- Processing date: 21-06-07
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.58097 (±0.00000 over 1 run(s) / ±0.13022 over 9 scenes)
Rank (per category): 22 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 352.3 | 0.453 Rank: 53/87 |
0.896 Rank: 43/87 |
0.34485 (±0.00000) Rank: 19/87 |
0.49978 (±0.00000) Rank: 19/87 |
FCS | 2048.0 | — | 511.1 | 0.415 Rank: 21/87 |
0.872 Rank: 21/87 |
0.65428 (±0.00000) Rank: 24/87 |
0.77244 (±0.00000) Rank: 20/87 |
LMS | 2048.0 | — | 555.9 | 0.454 Rank: 16/87 |
0.693 Rank: 20/87 |
0.59528 (±0.00000) Rank: 24/87 |
0.70558 (±0.00000) Rank: 30/87 |
LB | 2048.0 | — | 366.0 | 0.393 Rank: 38/87 |
0.707 Rank: 30/87 |
0.50507 (±0.00000) Rank: 19/87 |
0.61729 (±0.00000) Rank: 8/87 |
MC | 2048.0 | — | 389.0 | 0.417 Rank: 39/87 |
0.860 Rank: 40/87 |
0.35340 (±0.00000) Rank: 19/87 |
0.50500 (±0.00000) Rank: 26/87 |
MR | 2048.0 | — | 377.5 | 0.416 Rank: 47/87 |
0.904 Rank: 22/87 |
0.28220 (±0.00000) Rank: 17/87 |
0.39478 (±0.00000) Rank: 21/87 |
PSM | 2048.0 | — | 350.1 | 0.328 Rank: 60/87 |
0.610 Rank: 34/87 |
0.23588 (±0.00000) Rank: 27/87 |
0.39222 (±0.00000) Rank: 28/87 |
SF | 2048.0 | — | 499.0 | 0.374 Rank: 38/87 |
0.791 Rank: 28/87 |
0.51256 (±0.00000) Rank: 23/87 |
0.65850 (±0.00000) Rank: 20/87 |
SPC | 2048.0 | — | 389.7 | 0.376 Rank: 51/87 |
0.798 Rank: 38/87 |
0.52212 (±0.00000) Rank: 22/87 |
0.68315 (±0.00000) Rank: 23/87 |
Avg | 2048.0 | — | 421.2 | 0.403 Rank: 47/87 |
0.792 Rank: 23/87 |
0.44507 (±0.00000) Rank: 22/87 |
0.58097 (±0.00000) Rank: 22/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09299 over 9 scenes)
Rank (per category): 21 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 351.87 | 99.87 Rank: 32/87 |
1889.08 Rank: 41/87 |
4.889 Rank: 49/87 |
0.33729 Rank: 7/87 |
0.58975 (±0.00000) Rank: 22/87 |
0.72472 (±0.00000) Rank: 24/87 |
FCS | 2048.0 | 517.68 | 96.47 Rank: 66/87 |
2536.72 Rank: 37/87 |
5.089 Rank: 28/87 |
0.25196 Rank: 38/87 |
0.74519 (±0.00000) Rank: 26/87 |
0.80151 (±0.00000) Rank: 29/87 |
LMS | 2048.0 | 582.94 | 98.89 Rank: 58/87 |
1946.93 Rank: 35/87 |
5.917 Rank: 10/87 |
0.30534 Rank: 51/87 |
0.84219 (±0.00000) Rank: 33/87 |
0.88859 (±0.00000) Rank: 40/87 |
LB | 2048.0 | 438.28 | 98.36 Rank: 1/87 |
1915.76 Rank: 41/87 |
5.400 Rank: 18/87 |
0.48688 Rank: 35/87 |
0.72574 (±0.00000) Rank: 15/87 |
0.81566 (±0.00000) Rank: 15/87 |
MC | 2048.0 | 383.04 | 100.00 Rank: 1/87 |
2016.23 Rank: 43/87 |
5.094 Rank: 47/87 |
0.36259 Rank: 38/87 |
0.56219 (±0.00000) Rank: 14/87 |
0.70574 (±0.00000) Rank: 21/87 |
MR | 2048.0 | 371.72 | 95.41 Rank: 13/87 |
1925.57 Rank: 47/87 |
4.946 Rank: 11/87 |
0.45764 Rank: 3/87 |
0.44984 (±0.00000) Rank: 8/87 |
0.57571 (±0.00000) Rank: 5/87 |
PSM | 2048.0 | 347.31 | 99.00 Rank: 38/87 |
2338.03 Rank: 42/87 |
4.570 Rank: 25/87 |
0.39365 Rank: 45/87 |
0.64277 (±0.00000) Rank: 29/87 |
0.72665 (±0.00000) Rank: 31/87 |
SF | 2048.0 | 491.18 | 99.87 Rank: 16/87 |
2719.15 Rank: 36/87 |
5.084 Rank: 16/87 |
0.27643 Rank: 10/87 |
0.78048 (±0.00000) Rank: 22/87 |
0.86308 (±0.00000) Rank: 20/87 |
SPC | 2048.0 | 399.01 | 100.00 Rank: 1/87 |
2156.68 Rank: 43/87 |
5.136 Rank: 37/87 |
0.39838 Rank: 5/87 |
0.75449 (±0.00000) Rank: 24/87 |
0.84906 (±0.00000) Rank: 21/87 |
Avg | 2048.0 | 431.45 | 98.65 Rank: 36/87 |
2160.46 Rank: 42/87 |
5.125 Rank: 24/87 |
0.36335 Rank: 20/87 |
0.67696 (±0.00000) Rank: 21/87 |
0.77230 (±0.00000) Rank: 21/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.74440 (±0.00000 over 1 run(s) / ±0.04611 over 3 scenes)
Rank (per category): 22 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 305.6 | 0.035 Rank: 29/87 |
0.012 Rank: 13/87 |
0.58197 (±0.00000) Rank: 23/87 |
0.72219 (±0.00000) Rank: 20/87 |
Pond | 2048.0 | — | 296.8 | 0.049 Rank: 38/87 |
0.048 Rank: 33/87 |
0.55070 (±0.00000) Rank: 32/87 |
0.70240 (±0.00000) Rank: 29/87 |
Tree | 2048.0 | — | 190.6 | 0.030 Rank: 34/87 |
0.026 Rank: 7/87 |
0.69227 (±0.00000) Rank: 24/87 |
0.80861 (±0.00000) Rank: 23/87 |
Avg | 2048.0 | — | 264.3 | 0.038 Rank: 32/87 |
0.029 Rank: 7/87 |
0.60831 (±0.00000) Rank: 24/87 |
0.74440 (±0.00000) Rank: 22/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15033 over 3 scenes)
Rank (per category): 28 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 326.98 | 85.30 Rank: 19/87 |
1027.01 Rank: 36/87 |
3.467 Rank: 8/87 |
14.23737 Rank: 43/87 |
0.59347 (±0.00000) Rank: 15/87 |
0.67329 (±0.00000) Rank: 17/87 |
Pond | 2048.0 | 339.43 | 68.70 Rank: 31/87 |
832.30 Rank: 46/87 |
2.896 Rank: 35/87 |
0.44471 Rank: 63/87 |
0.28098 (±0.00000) Rank: 35/87 |
0.30511 (±0.00000) Rank: 42/87 |
Tree | 2048.0 | 186.32 | 70.54 Rank: 43/87 |
438.30 Rank: 51/87 |
3.060 Rank: 12/87 |
6.11692 Rank: 53/87 |
0.45011 (±0.00000) Rank: 21/87 |
0.48377 (±0.00000) Rank: 23/87 |
Avg | 2048.0 | 284.24 | 74.85 Rank: 34/87 |
765.87 Rank: 43/87 |
3.141 Rank: 19/87 |
6.93300 Rank: 49/87 |
0.44152 (±0.00000) Rank: 17/87 |
0.48739 (±0.00000) Rank: 28/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40124 (±0.00000 over 1 run(s) / ±0.14094 over 17 scenes)
Rank (per category): 20 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 263.5 | 0.25714 (±0.00000) Rank: 13/87 |
0.40982 (±0.00000) Rank: 13/87 |
Bangkok (BGK) | 2048.0 | — | 352.8 | 0.04069 (±0.00000) Rank: 45/87 |
0.14045 (±0.00000) Rank: 43/87 |
Barcelona (BCN) | 2048.0 | — | 266.8 | 0.11795 (±0.00000) Rank: 21/87 |
0.21209 (±0.00000) Rank: 16/87 |
Buenos Aires (BAR) | 2048.0 | — | 271.9 | 0.20822 (±0.00000) Rank: 13/87 |
0.37854 (±0.00000) Rank: 15/87 |
Cambridge (CAM) | 2048.0 | — | 272.7 | 0.31301 (±0.00000) Rank: 13/87 |
0.45719 (±0.00000) Rank: 20/87 |
Cannes (CAN) | 2048.0 | — | 349.7 | 0.40369 (±0.00000) Rank: 14/87 |
0.52857 (±0.00000) Rank: 7/87 |
Chicago (CHI) | 2048.0 | — | 205.0 | 0.21544 (±0.00000) Rank: 6/87 |
0.35683 (±0.00000) Rank: 6/87 |
Helsinki (HEL) | 2048.0 | — | 465.9 | 0.39536 (±0.00000) Rank: 4/87 |
0.58222 (±0.00000) Rank: 15/87 |
Madrid (MAD) | 2048.0 | — | 192.1 | 0.07964 (±0.00000) Rank: 27/87 |
0.17872 (±0.00000) Rank: 31/87 |
Mountain View (MTV) | 2048.0 | — | 252.5 | 0.22695 (±0.00000) Rank: 21/87 |
0.37910 (±0.00000) Rank: 20/87 |
New Orleans (NOR) | 2048.0 | — | 219.0 | 0.29822 (±0.00000) Rank: 2/87 |
0.41834 (±0.00000) Rank: 2/87 |
San Francisco (SF) | 2048.0 | — | 313.2 | 0.20787 (±0.00000) Rank: 13/87 |
0.36693 (±0.00000) Rank: 10/87 |
Singapore (SG) | 2048.0 | — | 266.5 | 0.31709 (±0.00000) Rank: 29/87 |
0.44937 (±0.00000) Rank: 27/87 |
Sydney (SYD) | 2048.0 | — | 302.1 | 0.32052 (±0.00000) Rank: 29/87 |
0.48166 (±0.00000) Rank: 27/87 |
Tokyo (TOK) | 2048.0 | — | 359.4 | 0.60588 (±0.00000) Rank: 13/87 |
0.74314 (±0.00000) Rank: 18/87 |
Toronto (TOR) | 2048.0 | — | 216.0 | 0.20640 (±0.00000) Rank: 30/87 |
0.36520 (±0.00000) Rank: 28/87 |
Zurich (ZRH) | 2048.0 | — | 342.1 | 0.27216 (±0.00000) Rank: 15/87 |
0.37285 (±0.00000) Rank: 15/87 |
Average (Avg) | 2048.0 | — | 288.9 | 0.26390 (±0.00000) Rank: 22/87 |
0.40124 (±0.00000) Rank: 20/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15734 over 17 scenes)
Rank (per category): 22 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 173.38 | 92.53 Rank: 17/87 |
1305.84 Rank: 30/87 |
3.854 Rank: 13/87 |
25.59961 Rank: 37/87 |
0.36209 (±0.00000) Rank: 16/87 |
0.48443 (±0.00000) Rank: 16/87 |
BGK | 2048.0 | 245.24 | 97.20 Rank: 11/87 |
2170.39 Rank: 29/87 |
3.666 Rank: 22/87 |
14.82051 Rank: 43/87 |
0.02381 (±0.00000) Rank: 40/87 |
0.07917 (±0.00000) Rank: 32/87 |
BCN | 2048.0 | 163.16 | 85.37 Rank: 23/87 |
1192.24 Rank: 26/87 |
3.727 Rank: 28/87 |
27.54417 Rank: 30/87 |
0.14045 (±0.00000) Rank: 18/87 |
0.22003 (±0.00000) Rank: 19/87 |
BAR | 2048.0 | 158.97 | 86.70 Rank: 22/87 |
1207.63 Rank: 24/87 |
3.372 Rank: 29/87 |
17.11974 Rank: 45/87 |
0.14595 (±0.00000) Rank: 33/87 |
0.24945 (±0.00000) Rank: 33/87 |
CAM | 2048.0 | 171.18 | 86.84 Rank: 25/87 |
1165.96 Rank: 30/87 |
3.508 Rank: 27/87 |
27.05213 Rank: 32/87 |
0.17960 (±0.00000) Rank: 21/87 |
0.26523 (±0.00000) Rank: 22/87 |
CAN | 2048.0 | 193.34 | 81.07 Rank: 11/87 |
923.22 Rank: 17/87 |
3.564 Rank: 14/87 |
22.10788 Rank: 42/87 |
0.06790 (±0.00000) Rank: 27/87 |
0.12484 (±0.00000) Rank: 25/87 |
CHI | 2048.0 | 182.03 | 89.60 Rank: 20/87 |
576.71 Rank: 24/87 |
4.724 Rank: 22/87 |
47.47942 Rank: 31/87 |
0.12004 (±0.00000) Rank: 23/87 |
0.22168 (±0.00000) Rank: 21/87 |
HEL | 2048.0 | 331.56 | 94.53 Rank: 18/87 |
2102.68 Rank: 30/87 |
4.018 Rank: 25/87 |
14.73763 Rank: 32/87 |
0.37069 (±0.00000) Rank: 7/87 |
0.50233 (±0.00000) Rank: 7/87 |
MAD | 2048.0 | 124.89 | 90.49 Rank: 24/87 |
1242.23 Rank: 29/87 |
3.267 Rank: 31/87 |
6.98832 Rank: 40/87 |
0.09762 (±0.00000) Rank: 22/87 |
0.20328 (±0.00000) Rank: 22/87 |
MTV | 2048.0 | 182.96 | 93.14 Rank: 4/87 |
1455.33 Rank: 23/87 |
3.846 Rank: 14/87 |
17.43064 Rank: 46/87 |
0.29261 (±0.00000) Rank: 15/87 |
0.43587 (±0.00000) Rank: 10/87 |
NOR | 2048.0 | 143.39 | 87.87 Rank: 20/87 |
1168.06 Rank: 27/87 |
3.440 Rank: 14/87 |
13.65227 Rank: 38/87 |
0.27484 (±0.00000) Rank: 23/87 |
0.36780 (±0.00000) Rank: 22/87 |
SF | 2048.0 | 206.31 | 96.67 Rank: 7/87 |
1666.21 Rank: 25/87 |
3.711 Rank: 24/87 |
20.97094 Rank: 37/87 |
0.30767 (±0.00000) Rank: 8/87 |
0.45523 (±0.00000) Rank: 8/87 |
SG | 2048.0 | 167.66 | 75.14 Rank: 30/87 |
996.83 Rank: 29/87 |
3.415 Rank: 12/87 |
16.80536 Rank: 24/87 |
0.20936 (±0.00000) Rank: 32/87 |
0.27801 (±0.00000) Rank: 31/87 |
SYD | 2048.0 | 186.53 | 89.08 Rank: 20/87 |
1552.60 Rank: 18/87 |
3.635 Rank: 10/87 |
22.90699 Rank: 44/87 |
0.33366 (±0.00000) Rank: 10/87 |
0.41747 (±0.00000) Rank: 11/87 |
TOK | 2048.0 | 225.81 | 92.40 Rank: 29/87 |
2000.03 Rank: 25/87 |
3.766 Rank: 18/87 |
14.30705 Rank: 21/87 |
0.65253 (±0.00000) Rank: 31/87 |
0.72383 (±0.00000) Rank: 31/87 |
TOR | 2048.0 | 136.67 | 88.93 Rank: 16/87 |
1305.99 Rank: 30/87 |
3.218 Rank: 25/87 |
14.98414 Rank: 12/87 |
0.17732 (±0.00000) Rank: 33/87 |
0.30096 (±0.00000) Rank: 33/87 |
ZRH | 2048.0 | 212.44 | 88.67 Rank: 28/87 |
1633.85 Rank: 28/87 |
3.491 Rank: 15/87 |
21.14525 Rank: 39/87 |
0.12856 (±0.00000) Rank: 13/87 |
0.19758 (±0.00000) Rank: 15/87 |
Avg | 2048.0 | 188.56 | 89.19 Rank: 23/87 |
1392.11 Rank: 29/87 |
3.660 Rank: 20/87 |
20.33247 Rank: 36/87 |
0.22851 (±0.00000) Rank: 18/87 |
0.32513 (±0.00000) Rank: 22/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/17bbf500989f99a2-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)