Submission ID: 1bca437f
HarrisZ improved AffNet-HardNet8
Processed: 21-06-12. Download link: 1bca437f151e5bd1-harrisz-2k.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: Fabio Bellavia and Dmytro Mishkin (contact)
- Keypoint: hzbnn22l05m2k2l
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 2048
- Summary: Baseline submission for HarrisZ detector evaluation
- Paper: https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2009.0127
- Website: N/A
- Processing date: 21-06-12
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.47539 (±0.00000 over 1 run(s) / ±0.14287 over 9 scenes)
Rank (per category): 51 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | 188.9 | 141.2 | 0.470 Rank: 32/87 |
0.952 Rank: 5/87 |
0.21850 (±0.00000) Rank: 55/87 |
0.34346 (±0.00000) Rank: 55/87 |
FCS | 2048.0 | 189.3 | 147.4 | 0.348 Rank: 79/87 |
0.928 Rank: 1/87 |
0.56712 (±0.00000) Rank: 46/87 |
0.69101 (±0.00000) Rank: 46/87 |
LMS | 2025.2 | 169.2 | 112.1 | 0.329 Rank: 83/87 |
0.680 Rank: 45/87 |
0.50610 (±0.00000) Rank: 52/87 |
0.64112 (±0.00000) Rank: 51/87 |
LB | 2046.5 | 153.9 | 103.5 | 0.336 Rank: 76/87 |
0.775 Rank: 3/87 |
0.39956 (±0.00000) Rank: 55/87 |
0.51288 (±0.00000) Rank: 52/87 |
MC | 2047.5 | 180.9 | 141.3 | 0.401 Rank: 56/87 |
0.952 Rank: 3/87 |
0.30437 (±0.00000) Rank: 55/87 |
0.45126 (±0.00000) Rank: 49/87 |
MR | 2048.0 | 208.3 | 161.4 | 0.355 Rank: 81/87 |
0.953 Rank: 2/87 |
0.23999 (±0.00000) Rank: 43/87 |
0.34365 (±0.00000) Rank: 44/87 |
PSM | 2048.0 | 95.5 | 70.4 | 0.289 Rank: 76/87 |
0.697 Rank: 5/87 |
0.12142 (±0.00000) Rank: 55/87 |
0.22240 (±0.00000) Rank: 56/87 |
SF | 2048.0 | 212.8 | 166.3 | 0.320 Rank: 82/87 |
0.871 Rank: 1/87 |
0.42883 (±0.00000) Rank: 48/87 |
0.56432 (±0.00000) Rank: 48/87 |
SPC | 2043.3 | 149.3 | 101.5 | 0.344 Rank: 72/87 |
0.864 Rank: 3/87 |
0.36237 (±0.00000) Rank: 52/87 |
0.50838 (±0.00000) Rank: 55/87 |
Avg | 2044.7 | 172.0 | 127.3 | 0.355 Rank: 75/87 |
0.853 Rank: 1/87 |
0.34981 (±0.00000) Rank: 51/87 |
0.47539 (±0.00000) Rank: 51/87 |
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/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14652 over 9 scenes)
Rank (per category): 62 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 288.27 | 99.93 Rank: 24/87 |
1218.66 Rank: 59/87 |
4.440 Rank: 76/87 |
0.54526 Rank: 61/87 |
0.41879 (±0.00000) Rank: 62/87 |
0.55695 (±0.00000) Rank: 63/87 |
FCS | 2048.0 | 299.70 | 98.33 Rank: 16/87 |
1769.17 Rank: 63/87 |
4.278 Rank: 65/87 |
0.23660 Rank: 20/87 |
0.74250 (±0.00000) Rank: 29/87 |
0.80899 (±0.00000) Rank: 16/87 |
LMS | 2025.2 | 289.05 | 98.53 Rank: 68/87 |
1321.17 Rank: 66/87 |
4.494 Rank: 77/87 |
0.28200 Rank: 25/87 |
0.81559 (±0.00000) Rank: 50/87 |
0.87493 (±0.00000) Rank: 53/87 |
LB | 2046.5 | 283.00 | 97.65 Rank: 59/87 |
1175.39 Rank: 62/87 |
4.358 Rank: 72/87 |
0.52207 Rank: 72/87 |
0.61946 (±0.00000) Rank: 63/87 |
0.71941 (±0.00000) Rank: 64/87 |
MC | 2047.5 | 275.50 | 99.40 Rank: 63/87 |
1367.97 Rank: 60/87 |
4.385 Rank: 71/87 |
0.45067 Rank: 67/87 |
0.47493 (±0.00000) Rank: 62/87 |
0.61737 (±0.00000) Rank: 64/87 |
MR | 2048.0 | 293.92 | 91.67 Rank: 67/87 |
1488.07 Rank: 57/87 |
4.101 Rank: 76/87 |
0.61042 Rank: 71/87 |
0.37062 (±0.00000) Rank: 57/87 |
0.48154 (±0.00000) Rank: 61/87 |
PSM | 2048.0 | 188.30 | 92.06 Rank: 62/87 |
1716.43 Rank: 66/87 |
3.093 Rank: 70/87 |
0.65592 Rank: 66/87 |
0.36501 (±0.00000) Rank: 64/87 |
0.45524 (±0.00000) Rank: 66/87 |
SF | 2048.0 | 302.24 | 98.15 Rank: 51/87 |
1837.46 Rank: 62/87 |
4.237 Rank: 77/87 |
0.30088 Rank: 45/87 |
0.73075 (±0.00000) Rank: 48/87 |
0.81627 (±0.00000) Rank: 49/87 |
SPC | 2043.3 | 257.91 | 99.06 Rank: 61/87 |
1394.85 Rank: 62/87 |
4.144 Rank: 75/87 |
0.46972 Rank: 46/87 |
0.67343 (±0.00000) Rank: 62/87 |
0.77749 (±0.00000) Rank: 63/87 |
Avg | 2044.7 | 275.32 | 97.20 Rank: 61/87 |
1476.58 Rank: 60/87 |
4.170 Rank: 76/87 |
0.45262 Rank: 61/87 |
0.57901 (±0.00000) Rank: 62/87 |
0.67869 (±0.00000) Rank: 62/87 |
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/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.63586 (±0.00000 over 1 run(s) / ±0.07866 over 3 scenes)
Rank (per category): 42 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | 180.6 | 168.7 | 0.024 Rank: 68/87 |
0.010 Rank: 33/87 |
0.47795 (±0.00000) Rank: 41/87 |
0.60555 (±0.00000) Rank: 41/87 |
Pond | 2048.0 | 164.8 | 150.1 | 0.047 Rank: 58/87 |
0.051 Rank: 20/87 |
0.43487 (±0.00000) Rank: 49/87 |
0.55832 (±0.00000) Rank: 50/87 |
Tree | 2048.0 | 120.7 | 107.4 | 0.029 Rank: 53/87 |
0.025 Rank: 20/87 |
0.65033 (±0.00000) Rank: 38/87 |
0.74371 (±0.00000) Rank: 42/87 |
Avg | 2048.0 | 155.4 | 142.1 | 0.034 Rank: 68/87 |
0.029 Rank: 9/87 |
0.52105 (±0.00000) Rank: 42/87 |
0.63586 (±0.00000) Rank: 42/87 |
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/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.16484 over 3 scenes)
Rank (per category): 45 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 287.53 | 85.40 Rank: 18/87 |
694.67 Rank: 54/87 |
3.376 Rank: 39/87 |
14.38787 Rank: 54/87 |
0.56873 (±0.00000) Rank: 41/87 |
0.65674 (±0.00000) Rank: 41/87 |
Pond | 2048.0 | 342.69 | 70.23 Rank: 12/87 |
636.45 Rank: 64/87 |
2.990 Rank: 22/87 |
0.44704 Rank: 67/87 |
0.23422 (±0.00000) Rank: 63/87 |
0.25504 (±0.00000) Rank: 65/87 |
Tree | 2048.0 | 213.61 | 71.81 Rank: 24/87 |
344.98 Rank: 64/87 |
3.015 Rank: 22/87 |
5.68825 Rank: 7/87 |
0.45158 (±0.00000) Rank: 18/87 |
0.49126 (±0.00000) Rank: 15/87 |
Avg | 2048.0 | 281.28 | 75.82 Rank: 9/87 |
558.70 Rank: 63/87 |
3.127 Rank: 20/87 |
6.84105 Rank: 25/87 |
0.41818 (±0.00000) Rank: 43/87 |
0.46768 (±0.00000) Rank: 45/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.32526 (±0.00000 over 1 run(s) / ±0.13716 over 17 scenes)
Rank (per category): 39 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | 117.3 | 87.9 | 0.16429 (±0.00000) Rank: 40/87 |
0.27634 (±0.00000) Rank: 42/87 |
Bangkok (BGK) | 2026.9 | 149.4 | 104.7 | 0.05161 (±0.00000) Rank: 37/87 |
0.14169 (±0.00000) Rank: 42/87 |
Barcelona (BCN) | 2048.0 | 100.9 | 75.6 | 0.14139 (±0.00000) Rank: 7/87 |
0.20220 (±0.00000) Rank: 29/87 |
Buenos Aires (BAR) | 2048.0 | 135.7 | 98.4 | 0.16621 (±0.00000) Rank: 40/87 |
0.28174 (±0.00000) Rank: 43/87 |
Cambridge (CAM) | 2044.9 | 107.3 | 76.1 | 0.27603 (±0.00000) Rank: 40/87 |
0.40377 (±0.00000) Rank: 35/87 |
Cannes (CAN) | 2048.0 | 154.4 | 108.8 | 0.40184 (±0.00000) Rank: 20/87 |
0.50092 (±0.00000) Rank: 31/87 |
Chicago (CHI) | 2042.0 | 67.6 | 46.6 | 0.18934 (±0.00000) Rank: 31/87 |
0.29433 (±0.00000) Rank: 31/87 |
Helsinki (HEL) | 2043.3 | 206.1 | 144.0 | 0.36907 (±0.00000) Rank: 28/87 |
0.57113 (±0.00000) Rank: 27/87 |
Madrid (MAD) | 2046.3 | 75.8 | 47.2 | 0.02188 (±0.00000) Rank: 48/87 |
0.08267 (±0.00000) Rank: 48/87 |
Mountain View (MTV) | 2047.9 | 74.2 | 49.4 | 0.15391 (±0.00000) Rank: 42/87 |
0.25449 (±0.00000) Rank: 41/87 |
New Orleans (NOR) | 2038.9 | 101.9 | 70.0 | 0.21953 (±0.00000) Rank: 38/87 |
0.29793 (±0.00000) Rank: 38/87 |
San Francisco (SF) | 2041.1 | 136.4 | 103.5 | 0.16010 (±0.00000) Rank: 38/87 |
0.27638 (±0.00000) Rank: 40/87 |
Singapore (SG) | 2033.1 | 150.8 | 102.3 | 0.28608 (±0.00000) Rank: 36/87 |
0.40443 (±0.00000) Rank: 36/87 |
Sydney (SYD) | 2019.0 | 124.4 | 82.7 | 0.27074 (±0.00000) Rank: 37/87 |
0.40000 (±0.00000) Rank: 38/87 |
Tokyo (TOK) | 2039.4 | 176.7 | 112.8 | 0.46912 (±0.00000) Rank: 41/87 |
0.60588 (±0.00000) Rank: 41/87 |
Toronto (TOR) | 2041.5 | 69.5 | 43.4 | 0.12000 (±0.00000) Rank: 46/87 |
0.22280 (±0.00000) Rank: 46/87 |
Zurich (ZRH) | 2043.6 | 123.7 | 92.2 | 0.24192 (±0.00000) Rank: 29/87 |
0.31271 (±0.00000) Rank: 37/87 |
Average (Avg) | 2041.2 | 121.9 | 85.0 | 0.21783 (±0.00000) Rank: 37/87 |
0.32526 (±0.00000) Rank: 39/87 |
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/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12325 over 17 scenes)
Rank (per category): 46 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 150.26 | 67.53 Rank: 47/87 |
584.54 Rank: 47/87 |
3.052 Rank: 50/87 |
15.98680 Rank: 3/87 |
0.13544 (±0.00000) Rank: 49/87 |
0.19279 (±0.00000) Rank: 47/87 |
BGK | 2026.9 | 190.63 | 91.30 Rank: 46/87 |
1260.58 Rank: 42/87 |
3.347 Rank: 51/87 |
12.25063 Rank: 16/87 |
0.02087 (±0.00000) Rank: 45/87 |
0.07137 (±0.00000) Rank: 42/87 |
BCN | 2048.0 | 132.37 | 69.12 Rank: 48/87 |
448.26 Rank: 48/87 |
3.091 Rank: 52/87 |
21.34386 Rank: 3/87 |
0.07314 (±0.00000) Rank: 46/87 |
0.11679 (±0.00000) Rank: 47/87 |
BAR | 2048.0 | 157.48 | 59.16 Rank: 48/87 |
422.81 Rank: 46/87 |
2.791 Rank: 50/87 |
9.32928 Rank: 5/87 |
0.06252 (±0.00000) Rank: 45/87 |
0.10896 (±0.00000) Rank: 46/87 |
CAM | 2044.9 | 148.42 | 65.55 Rank: 49/87 |
621.71 Rank: 44/87 |
2.827 Rank: 51/87 |
14.31496 Rank: 4/87 |
0.09344 (±0.00000) Rank: 48/87 |
0.13595 (±0.00000) Rank: 49/87 |
CAN | 2048.0 | 170.94 | 53.24 Rank: 51/87 |
255.61 Rank: 50/87 |
2.871 Rank: 51/87 |
12.53564 Rank: 9/87 |
0.03346 (±0.00000) Rank: 39/87 |
0.05184 (±0.00000) Rank: 44/87 |
CHI | 2042.0 | 137.59 | 76.72 Rank: 42/87 |
282.78 Rank: 41/87 |
3.835 Rank: 45/87 |
45.31726 Rank: 15/87 |
0.05947 (±0.00000) Rank: 37/87 |
0.11773 (±0.00000) Rank: 37/87 |
HEL | 2043.3 | 241.76 | 89.60 Rank: 45/87 |
1476.84 Rank: 42/87 |
3.332 Rank: 51/87 |
11.21106 Rank: 8/87 |
0.27196 (±0.00000) Rank: 41/87 |
0.40920 (±0.00000) Rank: 41/87 |
MAD | 2046.3 | 130.65 | 74.86 Rank: 46/87 |
525.59 Rank: 46/87 |
3.023 Rank: 51/87 |
4.89788 Rank: 15/87 |
0.02690 (±0.00000) Rank: 46/87 |
0.06255 (±0.00000) Rank: 46/87 |
MTV | 2047.9 | 133.76 | 74.58 Rank: 48/87 |
552.55 Rank: 49/87 |
3.075 Rank: 51/87 |
11.65850 Rank: 6/87 |
0.12845 (±0.00000) Rank: 46/87 |
0.19770 (±0.00000) Rank: 46/87 |
NOR | 2038.9 | 147.73 | 55.55 Rank: 49/87 |
307.93 Rank: 47/87 |
2.835 Rank: 49/87 |
6.60817 Rank: 6/87 |
0.05987 (±0.00000) Rank: 47/87 |
0.08545 (±0.00000) Rank: 48/87 |
SF | 2041.1 | 168.02 | 73.85 Rank: 48/87 |
731.11 Rank: 45/87 |
3.048 Rank: 51/87 |
13.91122 Rank: 7/87 |
0.11021 (±0.00000) Rank: 46/87 |
0.17476 (±0.00000) Rank: 47/87 |
SG | 2033.1 | 181.40 | 64.84 Rank: 44/87 |
766.64 Rank: 33/87 |
3.000 Rank: 50/87 |
14.55486 Rank: 10/87 |
0.11436 (±0.00000) Rank: 41/87 |
0.15484 (±0.00000) Rank: 41/87 |
SYD | 2019.0 | 161.44 | 69.89 Rank: 45/87 |
547.54 Rank: 44/87 |
2.937 Rank: 49/87 |
9.03655 Rank: 5/87 |
0.11036 (±0.00000) Rank: 46/87 |
0.16143 (±0.00000) Rank: 46/87 |
TOK | 2039.4 | 198.16 | 84.13 Rank: 44/87 |
1234.99 Rank: 43/87 |
3.272 Rank: 51/87 |
11.41349 Rank: 9/87 |
0.46493 (±0.00000) Rank: 44/87 |
0.53114 (±0.00000) Rank: 44/87 |
TOR | 2041.5 | 126.83 | 62.06 Rank: 48/87 |
379.29 Rank: 45/87 |
2.838 Rank: 50/87 |
9.97217 Rank: 7/87 |
0.03464 (±0.00000) Rank: 47/87 |
0.07071 (±0.00000) Rank: 47/87 |
ZRH | 2043.6 | 151.37 | 69.87 Rank: 47/87 |
831.06 Rank: 45/87 |
2.898 Rank: 51/87 |
15.22720 Rank: 13/87 |
0.04122 (±0.00000) Rank: 42/87 |
0.08107 (±0.00000) Rank: 42/87 |
Avg | 2041.2 | 160.52 | 70.70 Rank: 47/87 |
660.58 Rank: 46/87 |
3.063 Rank: 51/87 |
14.09233 Rank: 7/87 |
0.10831 (±0.00000) Rank: 45/87 |
0.16025 (±0.00000) Rank: 46/87 |
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/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/1bca437f151e5bd1-harrisz-2k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)