Submission ID: 36b2eb52
mss_scale_adapt_f_8k
Processed: 21-06-13. Download link: 36b2eb52df710ca0-613json.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Xiaopeng Bi, Yu Chen, Xinyang Liu, Dehao Zhang, Ran Yan, Zheng Chai, Haotian Zhang, and Xiao Liu (contact)
- Keypoint: superpoint
- Descriptor: mss (0 none: 0 bytes)
- Number of features: 8000
- Summary: superpoint with 8k features, using the guided superglue matching and adapt FH
- Paper: N/A
- Website: N/A
- Processing date: 21-06-13
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.60357 (±0.00000 over 1 run(s) / ±0.12920 over 9 scenes)
Rank (per category): 12 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 3567.3 | — | 647.5 | 0.514 Rank: 45/51 |
0.899 Rank: 35/51 |
0.31569 (±0.00000) Rank: 13/51 |
0.46989 (±0.00000) Rank: 13/51 |
FCS | 3574.9 | — | 882.4 | 0.469 Rank: 29/51 |
0.882 Rank: 30/51 |
0.68557 (±0.00000) Rank: 2/51 |
0.79310 (±0.00000) Rank: 3/51 |
LMS | 3586.0 | — | 673.7 | 0.462 Rank: 32/51 |
0.692 Rank: 18/51 |
0.60918 (±0.00000) Rank: 5/51 |
0.72666 (±0.00000) Rank: 7/51 |
LB | 3573.9 | — | 595.4 | 0.459 Rank: 39/51 |
0.713 Rank: 33/51 |
0.51910 (±0.00000) Rank: 13/51 |
0.62973 (±0.00000) Rank: 8/51 |
MC | 3585.0 | — | 746.0 | 0.486 Rank: 48/51 |
0.868 Rank: 38/51 |
0.39496 (±0.00000) Rank: 13/51 |
0.54954 (±0.00000) Rank: 24/51 |
MR | 3576.2 | — | 692.6 | 0.449 Rank: 48/51 |
0.900 Rank: 33/51 |
0.31401 (±0.00000) Rank: 23/51 |
0.43409 (±0.00000) Rank: 22/51 |
PSM | 3576.8 | — | 605.4 | 0.393 Rank: 42/51 |
0.642 Rank: 31/51 |
0.26433 (±0.00000) Rank: 6/51 |
0.43008 (±0.00000) Rank: 6/51 |
SF | 3586.0 | — | 796.7 | 0.412 Rank: 42/51 |
0.797 Rank: 32/51 |
0.54908 (±0.00000) Rank: 12/51 |
0.68465 (±0.00000) Rank: 9/51 |
SPC | 3586.0 | — | 683.5 | 0.444 Rank: 46/51 |
0.820 Rank: 29/51 |
0.56077 (±0.00000) Rank: 10/51 |
0.71439 (±0.00000) Rank: 10/51 |
Avg | 3579.1 | — | 702.6 | 0.454 Rank: 46/51 |
0.801 Rank: 33/51 |
0.46808 (±0.00000) Rank: 12/51 |
0.60357 (±0.00000) Rank: 12/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09895 over 9 scenes)
Rank (per category): 3 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 3567.3 | 649.21 | 100.00 Rank: 1/51 |
3252.35 Rank: 31/51 |
5.039 Rank: 24/51 |
0.33923 Rank: 3/51 |
0.59212 (±0.00000) Rank: 6/51 |
0.73215 (±0.00000) Rank: 5/51 |
FCS | 3574.9 | 897.67 | 98.13 Rank: 20/51 |
4219.31 Rank: 31/51 |
5.314 Rank: 9/51 |
0.22950 Rank: 18/51 |
0.77155 (±0.00000) Rank: 7/51 |
0.82747 (±0.00000) Rank: 8/51 |
LMS | 3586.0 | 706.39 | 99.41 Rank: 13/51 |
2770.84 Rank: 30/51 |
5.413 Rank: 4/51 |
0.25596 Rank: 1/51 |
0.86746 (±0.00000) Rank: 1/51 |
0.91518 (±0.00000) Rank: 2/51 |
LB | 3573.9 | 707.15 | 98.23 Rank: 11/51 |
3232.34 Rank: 32/51 |
5.295 Rank: 14/51 |
0.48673 Rank: 27/51 |
0.74363 (±0.00000) Rank: 8/51 |
0.82577 (±0.00000) Rank: 8/51 |
MC | 3585.0 | 732.31 | 100.00 Rank: 1/51 |
3563.67 Rank: 35/51 |
5.446 Rank: 15/51 |
0.35680 Rank: 24/51 |
0.56314 (±0.00000) Rank: 13/51 |
0.70846 (±0.00000) Rank: 13/51 |
MR | 3576.2 | 681.87 | 93.67 Rank: 34/51 |
3725.30 Rank: 35/51 |
4.798 Rank: 13/51 |
0.47538 Rank: 13/51 |
0.45717 (±0.00000) Rank: 22/51 |
0.57107 (±0.00000) Rank: 22/51 |
PSM | 3576.8 | 602.22 | 99.75 Rank: 6/51 |
3962.19 Rank: 30/51 |
4.672 Rank: 8/51 |
0.33355 Rank: 8/51 |
0.64335 (±0.00000) Rank: 9/51 |
0.72691 (±0.00000) Rank: 9/51 |
SF | 3586.0 | 784.27 | 99.56 Rank: 15/51 |
4496.96 Rank: 37/51 |
5.087 Rank: 13/51 |
0.28113 Rank: 5/51 |
0.77664 (±0.00000) Rank: 11/51 |
0.85505 (±0.00000) Rank: 11/51 |
SPC | 3586.0 | 700.27 | 100.00 Rank: 1/51 |
3588.84 Rank: 35/51 |
5.334 Rank: 12/51 |
0.46140 Rank: 21/51 |
0.76707 (±0.00000) Rank: 1/51 |
0.85737 (±0.00000) Rank: 1/51 |
Avg | 3579.1 | 717.93 | 98.75 Rank: 14/51 |
3645.75 Rank: 31/51 |
5.155 Rank: 12/51 |
0.35774 Rank: 3/51 |
0.68690 (±0.00000) Rank: 3/51 |
0.77994 (±0.00000) Rank: 3/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.79766 (±0.00000 over 1 run(s) / ±0.05557 over 3 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 3586.0 | — | 679.5 | 0.055 Rank: 39/51 |
0.012 Rank: 9/51 |
0.63495 (±0.00000) Rank: 2/51 |
0.76657 (±0.00000) Rank: 2/51 |
Pond | 3586.0 | — | 740.8 | 0.067 Rank: 39/51 |
0.046 Rank: 31/51 |
0.62285 (±0.00000) Rank: 3/51 |
0.75070 (±0.00000) Rank: 2/51 |
Tree | 3586.0 | — | 502.8 | 0.048 Rank: 39/51 |
0.023 Rank: 1/51 |
0.78852 (±0.00000) Rank: 7/51 |
0.87572 (±0.00000) Rank: 3/51 |
Avg | 3586.0 | — | 641.0 | 0.057 Rank: 39/51 |
0.027 Rank: 27/51 |
0.68211 (±0.00000) Rank: 2/51 |
0.79766 (±0.00000) Rank: 2/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14298 over 3 scenes)
Rank (per category): 3 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 3586.0 | 717.06 | 85.70 Rank: 1/51 |
2219.38 Rank: 20/51 |
3.389 Rank: 17/51 |
14.57694 Rank: 39/51 |
0.60444 (±0.00000) Rank: 1/51 |
0.68293 (±0.00000) Rank: 1/51 |
Pond | 3586.0 | 780.99 | 68.50 Rank: 25/51 |
1820.16 Rank: 28/51 |
2.854 Rank: 27/51 |
0.43491 Rank: 26/51 |
0.30289 (±0.00000) Rank: 9/51 |
0.33329 (±0.00000) Rank: 7/51 |
Tree | 3586.0 | 482.21 | 70.76 Rank: 27/51 |
1118.82 Rank: 23/51 |
3.035 Rank: 11/51 |
6.23364 Rank: 28/51 |
0.46396 (±0.00000) Rank: 11/51 |
0.49069 (±0.00000) Rank: 14/51 |
Avg | 3586.0 | 660.09 | 74.99 Rank: 23/51 |
1719.45 Rank: 23/51 |
3.093 Rank: 19/51 |
7.08183 Rank: 39/51 |
0.45710 (±0.00000) Rank: 3/51 |
0.50230 (±0.00000) Rank: 3/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.41212 (±0.00000 over 1 run(s) / ±0.13698 over 17 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 3567.8 | — | 430.1 | 0.25893 (±0.00000) Rank: 10/51 |
0.44598 (±0.00000) Rank: 3/51 |
Bangkok (BGK) | 3465.9 | — | 595.4 | 0.06600 (±0.00000) Rank: 14/51 |
0.18561 (±0.00000) Rank: 12/51 |
Barcelona (BCN) | 3526.2 | — | 402.9 | 0.13993 (±0.00000) Rank: 5/51 |
0.23919 (±0.00000) Rank: 3/51 |
Buenos Aires (BAR) | 3586.0 | — | 395.6 | 0.21279 (±0.00000) Rank: 10/51 |
0.38311 (±0.00000) Rank: 10/51 |
Cambridge (CAM) | 3519.4 | — | 403.8 | 0.31370 (±0.00000) Rank: 10/51 |
0.46610 (±0.00000) Rank: 3/51 |
Cannes (CAN) | 3509.4 | — | 472.1 | 0.42765 (±0.00000) Rank: 2/51 |
0.54194 (±0.00000) Rank: 2/51 |
Chicago (CHI) | 3497.4 | — | 301.3 | 0.17910 (±0.00000) Rank: 11/51 |
0.29385 (±0.00000) Rank: 11/51 |
Helsinki (HEL) | 3577.0 | — | 752.7 | 0.37732 (±0.00000) Rank: 11/51 |
0.58402 (±0.00000) Rank: 6/51 |
Madrid (MAD) | 3558.3 | — | 284.2 | 0.08875 (±0.00000) Rank: 9/51 |
0.21033 (±0.00000) Rank: 9/51 |
Mountain View (MTV) | 3552.2 | — | 340.0 | 0.25234 (±0.00000) Rank: 9/51 |
0.40508 (±0.00000) Rank: 8/51 |
New Orleans (NOR) | 3530.8 | — | 316.8 | 0.30118 (±0.00000) Rank: 7/51 |
0.40858 (±0.00000) Rank: 2/51 |
San Francisco (SF) | 3463.3 | — | 441.0 | 0.19423 (±0.00000) Rank: 10/51 |
0.34856 (±0.00000) Rank: 9/51 |
Singapore (SG) | 3531.6 | — | 373.5 | 0.32468 (±0.00000) Rank: 2/51 |
0.43734 (±0.00000) Rank: 2/51 |
Sydney (SYD) | 3580.3 | — | 416.3 | 0.37031 (±0.00000) Rank: 1/51 |
0.52533 (±0.00000) Rank: 1/51 |
Tokyo (TOK) | 3585.6 | — | 496.4 | 0.60784 (±0.00000) Rank: 2/51 |
0.74853 (±0.00000) Rank: 2/51 |
Toronto (TOR) | 3552.5 | — | 302.3 | 0.23120 (±0.00000) Rank: 2/51 |
0.39960 (±0.00000) Rank: 2/51 |
Zurich (ZRH) | 3563.6 | — | 478.7 | 0.27835 (±0.00000) Rank: 2/51 |
0.38282 (±0.00000) Rank: 2/51 |
Average (Avg) | 3539.3 | — | 423.7 | 0.27202 (±0.00000) Rank: 7/51 |
0.41212 (±0.00000) Rank: 2/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14997 over 17 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 3567.8 | 280.69 | 92.80 Rank: 6/51 |
2086.41 Rank: 12/51 |
3.889 Rank: 2/51 |
26.78486 Rank: 24/51 |
0.38798 (±0.00000) Rank: 1/51 |
0.50107 (±0.00000) Rank: 4/51 |
BGK | 3465.9 | 408.30 | 97.33 Rank: 5/51 |
3635.33 Rank: 10/51 |
3.663 Rank: 8/51 |
15.24661 Rank: 27/51 |
0.02648 (±0.00000) Rank: 10/51 |
0.08406 (±0.00000) Rank: 11/51 |
BCN | 3526.2 | 241.84 | 88.43 Rank: 5/51 |
1829.89 Rank: 8/51 |
3.815 Rank: 2/51 |
26.42052 Rank: 14/51 |
0.18020 (±0.00000) Rank: 1/51 |
0.28623 (±0.00000) Rank: 1/51 |
BAR | 3586.0 | 228.09 | 88.93 Rank: 3/51 |
1790.90 Rank: 10/51 |
3.407 Rank: 1/51 |
17.08349 Rank: 23/51 |
0.15273 (±0.00000) Rank: 9/51 |
0.26169 (±0.00000) Rank: 9/51 |
CAM | 3519.4 | 250.21 | 89.67 Rank: 4/51 |
1738.29 Rank: 12/51 |
3.592 Rank: 2/51 |
26.45720 Rank: 23/51 |
0.17181 (±0.00000) Rank: 9/51 |
0.26024 (±0.00000) Rank: 9/51 |
CAN | 3509.4 | 260.75 | 81.79 Rank: 7/51 |
1365.83 Rank: 11/51 |
3.431 Rank: 5/51 |
17.46409 Rank: 18/51 |
0.10245 (±0.00000) Rank: 5/51 |
0.16830 (±0.00000) Rank: 5/51 |
CHI | 3497.4 | 265.95 | 89.47 Rank: 7/51 |
751.25 Rank: 11/51 |
5.857 Rank: 2/51 |
49.07694 Rank: 27/51 |
0.16078 (±0.00000) Rank: 6/51 |
0.26170 (±0.00000) Rank: 4/51 |
HEL | 3577.0 | 534.40 | 94.00 Rank: 9/51 |
3141.88 Rank: 14/51 |
3.983 Rank: 1/51 |
14.04860 Rank: 26/51 |
0.32654 (±0.00000) Rank: 2/51 |
0.44127 (±0.00000) Rank: 7/51 |
MAD | 3558.3 | 183.40 | 92.13 Rank: 6/51 |
1888.84 Rank: 14/51 |
3.353 Rank: 5/51 |
6.63833 Rank: 24/51 |
0.08709 (±0.00000) Rank: 3/51 |
0.19237 (±0.00000) Rank: 3/51 |
MTV | 3552.2 | 249.05 | 92.99 Rank: 6/51 |
1843.87 Rank: 12/51 |
3.934 Rank: 2/51 |
16.11807 Rank: 24/51 |
0.29334 (±0.00000) Rank: 2/51 |
0.43089 (±0.00000) Rank: 2/51 |
NOR | 3530.8 | 203.64 | 86.53 Rank: 5/51 |
1606.67 Rank: 10/51 |
3.425 Rank: 1/51 |
13.43313 Rank: 26/51 |
0.27810 (±0.00000) Rank: 2/51 |
0.36966 (±0.00000) Rank: 2/51 |
SF | 3463.3 | 285.80 | 96.53 Rank: 2/51 |
2246.53 Rank: 10/51 |
3.767 Rank: 1/51 |
20.18190 Rank: 26/51 |
0.25799 (±0.00000) Rank: 3/51 |
0.38874 (±0.00000) Rank: 3/51 |
SG | 3531.6 | 229.56 | 80.86 Rank: 2/51 |
1535.24 Rank: 9/51 |
3.436 Rank: 1/51 |
18.83673 Rank: 27/51 |
0.23228 (±0.00000) Rank: 2/51 |
0.31218 (±0.00000) Rank: 2/51 |
SYD | 3580.3 | 252.78 | 87.29 Rank: 3/51 |
2033.82 Rank: 8/51 |
3.396 Rank: 6/51 |
19.97433 Rank: 26/51 |
0.29403 (±0.00000) Rank: 3/51 |
0.37375 (±0.00000) Rank: 3/51 |
TOK | 3585.6 | 307.95 | 93.87 Rank: 1/51 |
2881.13 Rank: 12/51 |
3.779 Rank: 1/51 |
14.75273 Rank: 21/51 |
0.67701 (±0.00000) Rank: 1/51 |
0.75509 (±0.00000) Rank: 1/51 |
TOR | 3552.5 | 187.80 | 88.67 Rank: 9/51 |
1752.70 Rank: 10/51 |
3.316 Rank: 4/51 |
18.47934 Rank: 26/51 |
0.18762 (±0.00000) Rank: 2/51 |
0.32564 (±0.00000) Rank: 1/51 |
ZRH | 3563.6 | 293.91 | 90.59 Rank: 1/51 |
2548.34 Rank: 9/51 |
3.406 Rank: 2/51 |
19.20382 Rank: 22/51 |
0.11420 (±0.00000) Rank: 9/51 |
0.18549 (±0.00000) Rank: 9/51 |
Avg | 3539.3 | 274.36 | 90.11 Rank: 3/51 |
2039.82 Rank: 10/51 |
3.732 Rank: 1/51 |
20.01180 Rank: 25/51 |
0.23121 (±0.00000) Rank: 2/51 |
0.32932 (±0.00000) Rank: 2/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/36b2eb52df710ca0-613json/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)