Submission ID: 25652812
hardnet-sfit8k
Processed: 21-05-27. Download link: 25652812332bb10c-sift8k-hardnet-degensac.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: Anonymous (contact)
- Keypoint: sift
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 8000
- Summary: my baseline test
- Paper: N/A
- Website: N/A
- Processing date: 21-05-27
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.56604 (±0.00000 over 1 run(s) / ±0.14957 over 9 scenes)
Rank (per category): 16 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7969.4 | — | 500.3 | 0.527 Rank: 36/51 |
0.951 Rank: 7/51 |
0.24481 (±0.00000) Rank: 26/51 |
0.36906 (±0.00000) Rank: 26/51 |
FCS | 7874.2 | — | 616.6 | 0.443 Rank: 37/51 |
0.949 Rank: 1/51 |
0.66007 (±0.00000) Rank: 13/51 |
0.77310 (±0.00000) Rank: 13/51 |
LMS | 7770.9 | — | 323.2 | 0.468 Rank: 26/51 |
0.701 Rank: 13/51 |
0.57729 (±0.00000) Rank: 19/51 |
0.69315 (±0.00000) Rank: 19/51 |
LB | 7955.5 | — | 318.9 | 0.473 Rank: 35/51 |
0.791 Rank: 3/51 |
0.49712 (±0.00000) Rank: 26/51 |
0.58575 (±0.00000) Rank: 22/51 |
MC | 7824.0 | — | 534.4 | 0.524 Rank: 45/51 |
0.964 Rank: 5/51 |
0.42775 (±0.00000) Rank: 26/51 |
0.57573 (±0.00000) Rank: 15/51 |
MR | 7797.2 | — | 538.9 | 0.457 Rank: 45/51 |
0.976 Rank: 3/51 |
0.34865 (±0.00000) Rank: 6/51 |
0.46477 (±0.00000) Rank: 6/51 |
PSM | 7809.6 | — | 231.9 | 0.385 Rank: 45/51 |
0.673 Rank: 19/51 |
0.17481 (±0.00000) Rank: 24/51 |
0.29829 (±0.00000) Rank: 25/51 |
SF | 7896.6 | — | 656.5 | 0.480 Rank: 35/51 |
0.908 Rank: 1/51 |
0.55610 (±0.00000) Rank: 11/51 |
0.68451 (±0.00000) Rank: 11/51 |
SPC | 7869.2 | — | 442.5 | 0.487 Rank: 42/51 |
0.897 Rank: 2/51 |
0.50154 (±0.00000) Rank: 14/51 |
0.65003 (±0.00000) Rank: 14/51 |
Avg | 7862.9 | — | 462.6 | 0.472 Rank: 41/51 |
0.868 Rank: 3/51 |
0.44313 (±0.00000) Rank: 16/51 |
0.56604 (±0.00000) Rank: 16/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11309 over 9 scenes)
Rank (per category): 20 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7969.4 | 496.75 | 99.76 Rank: 29/51 |
3406.06 Rank: 28/51 |
5.079 Rank: 22/51 |
0.46703 Rank: 27/51 |
0.46877 (±0.00000) Rank: 29/51 |
0.62748 (±0.00000) Rank: 26/51 |
FCS | 7874.2 | 646.87 | 98.87 Rank: 8/51 |
5794.96 Rank: 22/51 |
4.545 Rank: 26/51 |
0.26194 Rank: 24/51 |
0.77034 (±0.00000) Rank: 10/51 |
0.82881 (±0.00000) Rank: 7/51 |
LMS | 7770.9 | 355.92 | 98.87 Rank: 30/51 |
3665.32 Rank: 22/51 |
4.450 Rank: 30/51 |
0.33392 Rank: 32/51 |
0.81618 (±0.00000) Rank: 22/51 |
0.86114 (±0.00000) Rank: 26/51 |
LB | 7955.5 | 393.16 | 97.99 Rank: 27/51 |
3426.26 Rank: 29/51 |
4.608 Rank: 30/51 |
0.46551 Rank: 9/51 |
0.73814 (±0.00000) Rank: 11/51 |
0.81662 (±0.00000) Rank: 11/51 |
MC | 7824.0 | 520.69 | 99.95 Rank: 19/51 |
4754.48 Rank: 22/51 |
4.586 Rank: 36/51 |
0.33813 Rank: 16/51 |
0.55885 (±0.00000) Rank: 15/51 |
0.70001 (±0.00000) Rank: 14/51 |
MR | 7797.2 | 543.54 | 94.15 Rank: 31/51 |
5207.95 Rank: 26/51 |
4.124 Rank: 38/51 |
0.58263 Rank: 46/51 |
0.45662 (±0.00000) Rank: 23/51 |
0.56903 (±0.00000) Rank: 24/51 |
PSM | 7809.6 | 226.86 | 95.44 Rank: 29/51 |
3640.76 Rank: 32/51 |
3.325 Rank: 33/51 |
0.52087 Rank: 26/51 |
0.48461 (±0.00000) Rank: 26/51 |
0.57645 (±0.00000) Rank: 23/51 |
SF | 7896.6 | 648.10 | 98.56 Rank: 24/51 |
6443.39 Rank: 23/51 |
4.383 Rank: 35/51 |
0.31176 Rank: 28/51 |
0.73365 (±0.00000) Rank: 24/51 |
0.81465 (±0.00000) Rank: 24/51 |
SPC | 7869.2 | 456.96 | 99.93 Rank: 14/51 |
4769.73 Rank: 23/51 |
4.462 Rank: 32/51 |
0.39792 Rank: 6/51 |
0.75308 (±0.00000) Rank: 7/51 |
0.84446 (±0.00000) Rank: 7/51 |
Avg | 7862.9 | 476.54 | 98.17 Rank: 26/51 |
4567.66 Rank: 25/51 |
4.396 Rank: 31/51 |
0.40886 Rank: 26/51 |
0.64225 (±0.00000) Rank: 20/51 |
0.73763 (±0.00000) Rank: 20/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.60603 (±0.00000 over 1 run(s) / ±0.03989 over 3 scenes)
Rank (per category): 23 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 349.0 | 0.122 Rank: 18/51 |
0.011 Rank: 18/51 |
0.40277 (±0.00000) Rank: 23/51 |
0.55035 (±0.00000) Rank: 21/51 |
Pond | 8000.0 | — | 327.4 | 0.152 Rank: 16/51 |
0.059 Rank: 3/51 |
0.50902 (±0.00000) Rank: 22/51 |
0.64168 (±0.00000) Rank: 23/51 |
Tree | 8000.0 | — | 207.8 | 0.106 Rank: 29/51 |
0.021 Rank: 11/51 |
0.50949 (±0.00000) Rank: 26/51 |
0.62605 (±0.00000) Rank: 25/51 |
Avg | 8000.0 | — | 294.7 | 0.127 Rank: 16/51 |
0.030 Rank: 1/51 |
0.47376 (±0.00000) Rank: 25/51 |
0.60603 (±0.00000) Rank: 23/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14396 over 3 scenes)
Rank (per category): 27 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 371.32 | 84.40 Rank: 18/51 |
1196.44 Rank: 31/51 |
3.098 Rank: 31/51 |
13.43165 Rank: 6/51 |
0.53376 (±0.00000) Rank: 21/51 |
0.62977 (±0.00000) Rank: 19/51 |
Pond | 8000.0 | 501.72 | 65.67 Rank: 37/51 |
1327.12 Rank: 31/51 |
2.607 Rank: 33/51 |
0.41580 Rank: 9/51 |
0.25102 (±0.00000) Rank: 27/51 |
0.27901 (±0.00000) Rank: 31/51 |
Tree | 8000.0 | 288.05 | 71.06 Rank: 23/51 |
790.80 Rank: 34/51 |
2.836 Rank: 31/51 |
5.77226 Rank: 11/51 |
0.38062 (±0.00000) Rank: 31/51 |
0.42298 (±0.00000) Rank: 31/51 |
Avg | 8000.0 | 387.03 | 73.71 Rank: 32/51 |
1104.79 Rank: 31/51 |
2.847 Rank: 33/51 |
6.53990 Rank: 8/51 |
0.38847 (±0.00000) Rank: 28/51 |
0.44392 (±0.00000) Rank: 27/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.29533 (±0.00000 over 1 run(s) / ±0.11860 over 17 scenes)
Rank (per category): 19 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 6054.9 | — | 182.7 | 0.20804 (±0.00000) Rank: 19/51 |
0.33929 (±0.00000) Rank: 19/51 |
Bangkok (BGK) | 6266.3 | — | 162.6 | 0.07097 (±0.00000) Rank: 11/51 |
0.18734 (±0.00000) Rank: 11/51 |
Barcelona (BCN) | 5483.9 | — | 115.5 | 0.11209 (±0.00000) Rank: 17/51 |
0.18571 (±0.00000) Rank: 18/51 |
Buenos Aires (BAR) | 6519.9 | — | 165.7 | 0.17169 (±0.00000) Rank: 19/51 |
0.28904 (±0.00000) Rank: 21/51 |
Cambridge (CAM) | 6042.7 | — | 105.4 | 0.21849 (±0.00000) Rank: 19/51 |
0.33630 (±0.00000) Rank: 20/51 |
Cannes (CAN) | 5673.2 | — | 136.8 | 0.32350 (±0.00000) Rank: 20/51 |
0.40691 (±0.00000) Rank: 20/51 |
Chicago (CHI) | 5535.1 | — | 39.4 | 0.06352 (±0.00000) Rank: 21/51 |
0.11079 (±0.00000) Rank: 21/51 |
Helsinki (HEL) | 6562.4 | — | 212.8 | 0.34639 (±0.00000) Rank: 18/51 |
0.54278 (±0.00000) Rank: 17/51 |
Madrid (MAD) | 7019.0 | — | 110.4 | 0.04924 (±0.00000) Rank: 23/51 |
0.13435 (±0.00000) Rank: 19/51 |
Mountain View (MTV) | 6194.7 | — | 75.9 | 0.13164 (±0.00000) Rank: 20/51 |
0.22500 (±0.00000) Rank: 20/51 |
New Orleans (NOR) | 5998.6 | — | 99.2 | 0.19290 (±0.00000) Rank: 20/51 |
0.25769 (±0.00000) Rank: 20/51 |
San Francisco (SF) | 6291.0 | — | 140.2 | 0.13963 (±0.00000) Rank: 18/51 |
0.25433 (±0.00000) Rank: 18/51 |
Singapore (SG) | 7187.0 | — | 123.1 | 0.23671 (±0.00000) Rank: 16/51 |
0.33576 (±0.00000) Rank: 16/51 |
Sydney (SYD) | 6614.3 | — | 114.8 | 0.24541 (±0.00000) Rank: 16/51 |
0.36638 (±0.00000) Rank: 15/51 |
Tokyo (TOK) | 6474.1 | — | 129.5 | 0.39853 (±0.00000) Rank: 20/51 |
0.53431 (±0.00000) Rank: 19/51 |
Toronto (TOR) | 7093.6 | — | 68.1 | 0.11520 (±0.00000) Rank: 23/51 |
0.21600 (±0.00000) Rank: 23/51 |
Zurich (ZRH) | 5925.7 | — | 179.5 | 0.23162 (±0.00000) Rank: 17/51 |
0.29863 (±0.00000) Rank: 20/51 |
Average (Avg) | 6290.4 | — | 127.2 | 0.19150 (±0.00000) Rank: 19/51 |
0.29533 (±0.00000) Rank: 19/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09861 over 17 scenes)
Rank (per category): 26 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 6054.9 | 107.57 | 61.89 Rank: 26/51 |
863.04 Rank: 26/51 |
2.899 Rank: 26/51 |
14.27085 Rank: 3/51 |
0.14834 (±0.00000) Rank: 26/51 |
0.18625 (±0.00000) Rank: 26/51 |
BGK | 6266.3 | 105.38 | 87.84 Rank: 26/51 |
1325.47 Rank: 26/51 |
3.294 Rank: 23/51 |
12.14395 Rank: 7/51 |
0.02153 (±0.00000) Rank: 19/51 |
0.07967 (±0.00000) Rank: 12/51 |
BCN | 5483.9 | 67.38 | 67.49 Rank: 27/51 |
508.27 Rank: 27/51 |
3.194 Rank: 23/51 |
22.06789 Rank: 4/51 |
0.07073 (±0.00000) Rank: 25/51 |
0.11672 (±0.00000) Rank: 25/51 |
BAR | 6519.9 | 86.80 | 54.81 Rank: 26/51 |
470.69 Rank: 26/51 |
2.750 Rank: 25/51 |
8.25646 Rank: 4/51 |
0.01649 (±0.00000) Rank: 26/51 |
0.03249 (±0.00000) Rank: 26/51 |
CAM | 6042.7 | 61.78 | 56.33 Rank: 26/51 |
478.98 Rank: 26/51 |
2.795 Rank: 24/51 |
10.90619 Rank: 3/51 |
0.05996 (±0.00000) Rank: 26/51 |
0.08845 (±0.00000) Rank: 26/51 |
CAN | 5673.2 | 74.46 | 47.31 Rank: 27/51 |
304.74 Rank: 26/51 |
2.777 Rank: 24/51 |
7.59483 Rank: 4/51 |
0.00638 (±0.00000) Rank: 28/51 |
0.01718 (±0.00000) Rank: 28/51 |
CHI | 5535.1 | 35.13 | 42.76 Rank: 27/51 |
106.90 Rank: 27/51 |
2.740 Rank: 27/51 |
28.43033 Rank: 2/51 |
0.00341 (±0.00000) Rank: 27/51 |
0.00893 (±0.00000) Rank: 27/51 |
HEL | 6562.4 | 151.10 | 83.15 Rank: 26/51 |
1665.64 Rank: 25/51 |
3.102 Rank: 24/51 |
11.94326 Rank: 7/51 |
0.25064 (±0.00000) Rank: 21/51 |
0.37600 (±0.00000) Rank: 21/51 |
MAD | 7019.0 | 68.72 | 74.33 Rank: 25/51 |
803.99 Rank: 23/51 |
3.020 Rank: 23/51 |
3.29146 Rank: 2/51 |
0.02456 (±0.00000) Rank: 24/51 |
0.05619 (±0.00000) Rank: 25/51 |
MTV | 6194.7 | 54.91 | 65.14 Rank: 26/51 |
569.07 Rank: 26/51 |
2.872 Rank: 25/51 |
8.34372 Rank: 3/51 |
0.05370 (±0.00000) Rank: 26/51 |
0.10488 (±0.00000) Rank: 26/51 |
NOR | 5998.6 | 66.19 | 43.16 Rank: 26/51 |
197.28 Rank: 27/51 |
2.507 Rank: 28/51 |
3.50092 Rank: 3/51 |
0.01787 (±0.00000) Rank: 26/51 |
0.02763 (±0.00000) Rank: 26/51 |
SF | 6291.0 | 80.34 | 55.87 Rank: 25/51 |
515.41 Rank: 26/51 |
2.584 Rank: 27/51 |
6.03556 Rank: 4/51 |
0.04815 (±0.00000) Rank: 25/51 |
0.08094 (±0.00000) Rank: 25/51 |
SG | 7187.0 | 76.07 | 52.61 Rank: 26/51 |
439.62 Rank: 27/51 |
2.814 Rank: 24/51 |
9.16875 Rank: 2/51 |
0.04704 (±0.00000) Rank: 24/51 |
0.07075 (±0.00000) Rank: 24/51 |
SYD | 6614.3 | 65.61 | 58.77 Rank: 27/51 |
383.56 Rank: 27/51 |
2.851 Rank: 25/51 |
8.31026 Rank: 4/51 |
0.08103 (±0.00000) Rank: 25/51 |
0.12224 (±0.00000) Rank: 25/51 |
TOK | 6474.1 | 80.92 | 68.25 Rank: 26/51 |
792.49 Rank: 27/51 |
2.900 Rank: 27/51 |
7.34743 Rank: 4/51 |
0.27675 (±0.00000) Rank: 25/51 |
0.31766 (±0.00000) Rank: 27/51 |
TOR | 7093.6 | 40.32 | 53.41 Rank: 28/51 |
276.79 Rank: 27/51 |
2.843 Rank: 24/51 |
8.07754 Rank: 2/51 |
0.02567 (±0.00000) Rank: 26/51 |
0.04271 (±0.00000) Rank: 26/51 |
ZRH | 5925.7 | 102.12 | 65.18 Rank: 24/51 |
932.40 Rank: 26/51 |
2.930 Rank: 23/51 |
11.05603 Rank: 4/51 |
0.02121 (±0.00000) Rank: 24/51 |
0.05509 (±0.00000) Rank: 24/51 |
Avg | 6290.4 | 77.93 | 61.08 Rank: 27/51 |
625.55 Rank: 26/51 |
2.875 Rank: 25/51 |
10.63208 Rank: 3/51 |
0.06903 (±0.00000) Rank: 26/51 |
0.10493 (±0.00000) Rank: 26/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/25652812332bb10c-sift8k-hardnet-degensac/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)