Submission ID: 2f3c9cf7
sp_sg_retrieval_masked
Processed: 21-06-11. Download link: 2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: cysmilebaby (contact)
- Keypoint: superpoint
- Descriptor: superpoint (1305 float32: 5220 bytes)
- Number of features: 2048
- Summary: masked with retrieval supeproint+superglue
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.58070 (±0.00000 over 1 run(s) / ±0.15477 over 9 scenes)
Rank (per category): 25 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 1537.0 | — | 309.9 | 0.408 Rank: 80/87 |
0.782 Rank: 82/87 |
0.35543 (±0.00000) Rank: 7/87 |
0.51044 (±0.00000) Rank: 7/87 |
FCS | 1906.2 | — | 499.3 | 0.360 Rank: 70/87 |
0.766 Rank: 76/87 |
0.62051 (±0.00000) Rank: 37/87 |
0.74422 (±0.00000) Rank: 37/87 |
LMS | 1120.6 | — | 377.0 | 0.347 Rank: 78/87 |
0.592 Rank: 80/87 |
0.68004 (±0.00000) Rank: 1/87 |
0.79553 (±0.00000) Rank: 1/87 |
LB | 1513.5 | — | 296.6 | 0.337 Rank: 74/87 |
0.652 Rank: 74/87 |
0.53560 (±0.00000) Rank: 7/87 |
0.66498 (±0.00000) Rank: 2/87 |
MC | 1759.7 | — | 338.2 | 0.373 Rank: 77/87 |
0.745 Rank: 80/87 |
0.30302 (±0.00000) Rank: 7/87 |
0.44404 (±0.00000) Rank: 51/87 |
MR | 1277.3 | — | 276.7 | 0.393 Rank: 56/87 |
0.788 Rank: 79/87 |
0.19983 (±0.00000) Rank: 67/87 |
0.29415 (±0.00000) Rank: 66/87 |
PSM | 1874.0 | — | 370.1 | 0.296 Rank: 69/87 |
0.596 Rank: 45/87 |
0.29829 (±0.00000) Rank: 2/87 |
0.45075 (±0.00000) Rank: 2/87 |
SF | 1761.6 | — | 504.9 | 0.338 Rank: 70/87 |
0.702 Rank: 76/87 |
0.51410 (±0.00000) Rank: 22/87 |
0.65651 (±0.00000) Rank: 25/87 |
SPC | 1737.8 | — | 361.5 | 0.330 Rank: 78/87 |
0.666 Rank: 78/87 |
0.50547 (±0.00000) Rank: 29/87 |
0.66571 (±0.00000) Rank: 33/87 |
Avg | 1609.7 | — | 370.5 | 0.354 Rank: 78/87 |
0.699 Rank: 78/87 |
0.44581 (±0.00000) Rank: 21/87 |
0.58070 (±0.00000) Rank: 25/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10961 over 9 scenes)
Rank (per category): 3 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 1537.0 | 314.67 | 99.93 Rank: 24/87 |
1399.74 Rank: 54/87 |
4.919 Rank: 42/87 |
0.34335 Rank: 15/87 |
0.59562 (±0.00000) Rank: 16/87 |
0.73006 (±0.00000) Rank: 18/87 |
FCS | 1906.2 | 507.02 | 98.67 Rank: 8/87 |
2328.88 Rank: 49/87 |
4.833 Rank: 51/87 |
0.22157 Rank: 3/87 |
0.76177 (±0.00000) Rank: 7/87 |
0.81712 (±0.00000) Rank: 8/87 |
LMS | 1120.6 | 403.63 | 99.20 Rank: 42/87 |
1335.53 Rank: 65/87 |
5.602 Rank: 31/87 |
0.24804 Rank: 2/87 |
0.86456 (±0.00000) Rank: 14/87 |
0.90997 (±0.00000) Rank: 17/87 |
LB | 1513.5 | 353.96 | 98.36 Rank: 1/87 |
1388.43 Rank: 54/87 |
5.257 Rank: 34/87 |
0.49704 Rank: 52/87 |
0.70024 (±0.00000) Rank: 39/87 |
0.79969 (±0.00000) Rank: 38/87 |
MC | 1759.7 | 333.87 | 100.00 Rank: 1/87 |
1692.52 Rank: 54/87 |
4.749 Rank: 59/87 |
0.29726 Rank: 1/87 |
0.61269 (±0.00000) Rank: 1/87 |
0.74720 (±0.00000) Rank: 1/87 |
MR | 1277.3 | 272.50 | 95.41 Rank: 13/87 |
1155.77 Rank: 69/87 |
4.861 Rank: 31/87 |
0.55509 Rank: 57/87 |
0.38527 (±0.00000) Rank: 51/87 |
0.51606 (±0.00000) Rank: 42/87 |
PSM | 1874.0 | 369.46 | 99.88 Rank: 1/87 |
2157.46 Rank: 48/87 |
4.430 Rank: 36/87 |
0.30739 Rank: 6/87 |
0.68388 (±0.00000) Rank: 1/87 |
0.77242 (±0.00000) Rank: 1/87 |
SF | 1761.6 | 495.60 | 99.93 Rank: 13/87 |
2325.13 Rank: 48/87 |
4.972 Rank: 29/87 |
0.29018 Rank: 38/87 |
0.78775 (±0.00000) Rank: 2/87 |
0.86572 (±0.00000) Rank: 12/87 |
SPC | 1737.8 | 373.04 | 100.00 Rank: 1/87 |
1849.11 Rank: 52/87 |
4.814 Rank: 56/87 |
0.40378 Rank: 9/87 |
0.79003 (±0.00000) Rank: 1/87 |
0.87410 (±0.00000) Rank: 1/87 |
Avg | 1609.7 | 380.42 | 99.04 Rank: 5/87 |
1736.95 Rank: 54/87 |
4.938 Rank: 45/87 |
0.35152 Rank: 1/87 |
0.68687 (±0.00000) Rank: 1/87 |
0.78137 (±0.00000) Rank: 3/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.83640 (±0.00000 over 1 run(s) / ±0.05133 over 3 scenes)
Rank (per category): 1 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 1488.2 | — | 304.0 | 0.028 Rank: 64/87 |
0.010 Rank: 37/87 |
0.71817 (±0.00000) Rank: 1/87 |
0.82732 (±0.00000) Rank: 1/87 |
Pond | 2001.3 | — | 361.5 | 0.048 Rank: 54/87 |
0.043 Rank: 69/87 |
0.67375 (±0.00000) Rank: 2/87 |
0.77856 (±0.00000) Rank: 1/87 |
Tree | 1896.6 | — | 234.0 | 0.028 Rank: 65/87 |
0.024 Rank: 36/87 |
0.83046 (±0.00000) Rank: 1/87 |
0.90331 (±0.00000) Rank: 1/87 |
Avg | 1795.4 | — | 299.8 | 0.034 Rank: 65/87 |
0.026 Rank: 63/87 |
0.74079 (±0.00000) Rank: 1/87 |
0.83640 (±0.00000) Rank: 1/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15093 over 3 scenes)
Rank (per category): 41 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 1488.2 | 366.74 | 85.30 Rank: 19/87 |
1003.49 Rank: 39/87 |
3.453 Rank: 11/87 |
13.99969 Rank: 18/87 |
0.60093 (±0.00000) Rank: 2/87 |
0.67767 (±0.00000) Rank: 8/87 |
Pond | 2001.3 | 344.87 | 72.50 Rank: 1/87 |
805.97 Rank: 49/87 |
3.140 Rank: 6/87 |
0.45229 Rank: 70/87 |
0.28758 (±0.00000) Rank: 28/87 |
0.31522 (±0.00000) Rank: 32/87 |
Tree | 1896.6 | 229.45 | 69.89 Rank: 51/87 |
479.12 Rank: 43/87 |
3.014 Rank: 23/87 |
6.56886 Rank: 68/87 |
0.39713 (±0.00000) Rank: 53/87 |
0.43328 (±0.00000) Rank: 54/87 |
Avg | 1795.4 | 313.69 | 75.90 Rank: 6/87 |
762.86 Rank: 45/87 |
3.202 Rank: 5/87 |
7.00695 Rank: 62/87 |
0.42855 (±0.00000) Rank: 40/87 |
0.47539 (±0.00000) Rank: 41/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.36607 (±0.00000 over 1 run(s) / ±0.13891 over 17 scenes)
Rank (per category): 33 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 1727.7 | — | 213.9 | 0.20804 (±0.00000) Rank: 34/87 |
0.36696 (±0.00000) Rank: 32/87 |
Bangkok (BGK) | 1240.5 | — | 239.6 | 0.04715 (±0.00000) Rank: 42/87 |
0.13300 (±0.00000) Rank: 46/87 |
Barcelona (BCN) | 1185.7 | — | 179.8 | 0.12601 (±0.00000) Rank: 16/87 |
0.19744 (±0.00000) Rank: 33/87 |
Buenos Aires (BAR) | 1239.2 | — | 173.8 | 0.20822 (±0.00000) Rank: 34/87 |
0.38767 (±0.00000) Rank: 11/87 |
Cambridge (CAM) | 1196.3 | — | 141.3 | 0.24110 (±0.00000) Rank: 34/87 |
0.38801 (±0.00000) Rank: 40/87 |
Cannes (CAN) | 1164.0 | — | 156.6 | 0.25714 (±0.00000) Rank: 47/87 |
0.35576 (±0.00000) Rank: 47/87 |
Chicago (CHI) | 1178.6 | — | 100.2 | 0.09139 (±0.00000) Rank: 41/87 |
0.20526 (±0.00000) Rank: 39/87 |
Helsinki (HEL) | 1337.2 | — | 329.0 | 0.31237 (±0.00000) Rank: 41/87 |
0.48557 (±0.00000) Rank: 43/87 |
Madrid (MAD) | 1223.0 | — | 137.6 | 0.08207 (±0.00000) Rank: 24/87 |
0.21672 (±0.00000) Rank: 6/87 |
Mountain View (MTV) | 1093.4 | — | 164.7 | 0.30469 (±0.00000) Rank: 1/87 |
0.47070 (±0.00000) Rank: 1/87 |
New Orleans (NOR) | 1001.3 | — | 108.3 | 0.23136 (±0.00000) Rank: 35/87 |
0.35710 (±0.00000) Rank: 32/87 |
San Francisco (SF) | 1163.6 | — | 174.5 | 0.20315 (±0.00000) Rank: 21/87 |
0.35827 (±0.00000) Rank: 18/87 |
Singapore (SG) | 1175.7 | — | 151.3 | 0.28924 (±0.00000) Rank: 34/87 |
0.42025 (±0.00000) Rank: 33/87 |
Sydney (SYD) | 1331.1 | — | 193.9 | 0.34760 (±0.00000) Rank: 14/87 |
0.52052 (±0.00000) Rank: 1/87 |
Tokyo (TOK) | 1355.3 | — | 281.2 | 0.59020 (±0.00000) Rank: 31/87 |
0.73725 (±0.00000) Rank: 27/87 |
Toronto (TOR) | 1287.7 | — | 195.2 | 0.17440 (±0.00000) Rank: 35/87 |
0.31920 (±0.00000) Rank: 35/87 |
Zurich (ZRH) | 1156.6 | — | 200.7 | 0.21443 (±0.00000) Rank: 42/87 |
0.30344 (±0.00000) Rank: 40/87 |
Average (Avg) | 1238.6 | — | 184.8 | 0.23109 (±0.00000) Rank: 33/87 |
0.36607 (±0.00000) Rank: 33/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.17038 over 17 scenes)
Rank (per category): 33 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 1727.7 | 147.87 | 91.60 Rank: 31/87 |
1046.09 Rank: 40/87 |
3.766 Rank: 29/87 |
25.52768 Rank: 34/87 |
0.34727 (±0.00000) Rank: 23/87 |
0.46885 (±0.00000) Rank: 21/87 |
BGK | 1240.5 | 163.58 | 95.60 Rank: 35/87 |
1159.66 Rank: 45/87 |
3.917 Rank: 3/87 |
13.27819 Rank: 25/87 |
0.02807 (±0.00000) Rank: 25/87 |
0.08526 (±0.00000) Rank: 27/87 |
BCN | 1185.7 | 107.34 | 79.23 Rank: 42/87 |
709.81 Rank: 39/87 |
3.669 Rank: 34/87 |
24.61398 Rank: 16/87 |
0.10411 (±0.00000) Rank: 36/87 |
0.16358 (±0.00000) Rank: 37/87 |
BAR | 1239.2 | 110.29 | 87.97 Rank: 15/87 |
833.14 Rank: 35/87 |
3.474 Rank: 6/87 |
16.01970 Rank: 26/87 |
0.20864 (±0.00000) Rank: 1/87 |
0.34678 (±0.00000) Rank: 1/87 |
CAM | 1196.3 | 93.84 | 80.75 Rank: 38/87 |
629.35 Rank: 43/87 |
3.612 Rank: 9/87 |
22.98774 Rank: 14/87 |
0.19538 (±0.00000) Rank: 12/87 |
0.27219 (±0.00000) Rank: 19/87 |
CAN | 1164.0 | 89.99 | 68.19 Rank: 40/87 |
366.56 Rank: 43/87 |
3.389 Rank: 36/87 |
11.07034 Rank: 7/87 |
0.06257 (±0.00000) Rank: 28/87 |
0.10447 (±0.00000) Rank: 31/87 |
CHI | 1178.6 | 88.62 | 83.61 Rank: 39/87 |
324.23 Rank: 36/87 |
4.081 Rank: 36/87 |
44.07541 Rank: 9/87 |
0.04160 (±0.00000) Rank: 42/87 |
0.11245 (±0.00000) Rank: 38/87 |
HEL | 1337.2 | 237.75 | 93.27 Rank: 38/87 |
1392.96 Rank: 44/87 |
4.095 Rank: 7/87 |
13.17171 Rank: 15/87 |
0.35303 (±0.00000) Rank: 13/87 |
0.47209 (±0.00000) Rank: 24/87 |
MAD | 1223.0 | 92.12 | 88.17 Rank: 37/87 |
788.47 Rank: 43/87 |
3.456 Rank: 1/87 |
5.89140 Rank: 27/87 |
0.10991 (±0.00000) Rank: 6/87 |
0.21733 (±0.00000) Rank: 12/87 |
MTV | 1093.4 | 122.71 | 92.19 Rank: 20/87 |
855.31 Rank: 41/87 |
3.954 Rank: 6/87 |
18.01549 Rank: 51/87 |
0.32730 (±0.00000) Rank: 1/87 |
0.46632 (±0.00000) Rank: 1/87 |
NOR | 1001.3 | 75.91 | 77.92 Rank: 36/87 |
530.21 Rank: 42/87 |
3.366 Rank: 25/87 |
11.28106 Rank: 20/87 |
0.22185 (±0.00000) Rank: 32/87 |
0.31442 (±0.00000) Rank: 31/87 |
SF | 1163.6 | 122.04 | 92.45 Rank: 34/87 |
869.09 Rank: 41/87 |
3.753 Rank: 18/87 |
21.02563 Rank: 38/87 |
0.26824 (±0.00000) Rank: 30/87 |
0.40564 (±0.00000) Rank: 32/87 |
SG | 1175.7 | 98.37 | 69.43 Rank: 40/87 |
527.55 Rank: 44/87 |
3.228 Rank: 37/87 |
17.49337 Rank: 32/87 |
0.15579 (±0.00000) Rank: 37/87 |
0.20246 (±0.00000) Rank: 38/87 |
SYD | 1331.1 | 126.30 | 85.61 Rank: 35/87 |
890.62 Rank: 39/87 |
3.589 Rank: 20/87 |
23.33500 Rank: 47/87 |
0.28990 (±0.00000) Rank: 24/87 |
0.38862 (±0.00000) Rank: 18/87 |
TOK | 1355.3 | 178.94 | 93.20 Rank: 18/87 |
1362.33 Rank: 39/87 |
3.835 Rank: 6/87 |
14.28084 Rank: 20/87 |
0.67833 (±0.00000) Rank: 6/87 |
0.75036 (±0.00000) Rank: 8/87 |
TOR | 1287.7 | 130.15 | 87.19 Rank: 33/87 |
877.42 Rank: 39/87 |
3.523 Rank: 1/87 |
17.89227 Rank: 36/87 |
0.19993 (±0.00000) Rank: 21/87 |
0.32653 (±0.00000) Rank: 23/87 |
ZRH | 1156.6 | 124.22 | 81.70 Rank: 40/87 |
1012.37 Rank: 39/87 |
3.393 Rank: 34/87 |
14.60501 Rank: 10/87 |
0.08501 (±0.00000) Rank: 35/87 |
0.13124 (±0.00000) Rank: 38/87 |
Avg | 1238.6 | 124.12 | 85.18 Rank: 36/87 |
833.83 Rank: 42/87 |
3.653 Rank: 24/87 |
18.50381 Rank: 17/87 |
0.21629 (±0.00000) Rank: 32/87 |
0.30756 (±0.00000) Rank: 33/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/2f3c9cf7c8cfd156-sp_sg_retrieval_masked.json/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)