Submission ID: 39b1eaf8
disk_ransac
Processed: 21-05-15. Download link: 39b1eaf871e117ad-disk_ransac_test1.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: cc (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 8000
- Summary: disk 8k, knn, ransac
- Paper: N/A
- Website: N/A
- Processing date: 21-05-15
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.52720 (±0.00000 over 1 run(s) / ±0.12048 over 9 scenes)
Rank (per category): 27 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7951.4 | — | 756.6 | 0.723 Rank: 5/51 |
0.966 Rank: 1/51 |
0.27737 (±0.00000) Rank: 18/51 |
0.41317 (±0.00000) Rank: 17/51 |
FCS | 8000.0 | — | 712.4 | 0.596 Rank: 2/51 |
0.898 Rank: 21/51 |
0.58418 (±0.00000) Rank: 28/51 |
0.69794 (±0.00000) Rank: 29/51 |
LMS | 7890.1 | — | 299.5 | 0.604 Rank: 4/51 |
0.716 Rank: 10/51 |
0.43818 (±0.00000) Rank: 37/51 |
0.54484 (±0.00000) Rank: 36/51 |
LB | 7832.7 | — | 451.3 | 0.679 Rank: 1/51 |
0.788 Rank: 4/51 |
0.49033 (±0.00000) Rank: 18/51 |
0.58016 (±0.00000) Rank: 23/51 |
MC | 7988.3 | — | 948.0 | 0.754 Rank: 1/51 |
0.973 Rank: 1/51 |
0.43002 (±0.00000) Rank: 18/51 |
0.58430 (±0.00000) Rank: 9/51 |
MR | 7995.9 | — | 900.6 | 0.666 Rank: 3/51 |
0.944 Rank: 22/51 |
0.33677 (±0.00000) Rank: 9/51 |
0.45181 (±0.00000) Rank: 10/51 |
PSM | 8000.0 | — | 441.3 | 0.567 Rank: 2/51 |
0.701 Rank: 13/51 |
0.15434 (±0.00000) Rank: 29/51 |
0.27112 (±0.00000) Rank: 29/51 |
SF | 8000.0 | — | 752.0 | 0.588 Rank: 3/51 |
0.844 Rank: 20/51 |
0.47958 (±0.00000) Rank: 31/51 |
0.60413 (±0.00000) Rank: 31/51 |
SPC | 8000.0 | — | 569.6 | 0.653 Rank: 1/51 |
0.869 Rank: 8/51 |
0.44509 (±0.00000) Rank: 27/51 |
0.59736 (±0.00000) Rank: 27/51 |
Avg | 7962.0 | — | 647.9 | 0.648 Rank: 1/51 |
0.856 Rank: 7/51 |
0.40398 (±0.00000) Rank: 26/51 |
0.52720 (±0.00000) Rank: 27/51 |
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/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09218 over 9 scenes)
Rank (per category): 27 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7951.4 | 765.71 | 99.79 Rank: 27/51 |
4230.29 Rank: 18/51 |
6.383 Rank: 6/51 |
0.44184 Rank: 21/51 |
0.51094 (±0.00000) Rank: 21/51 |
0.66037 (±0.00000) Rank: 17/51 |
FCS | 8000.0 | 743.56 | 96.73 Rank: 32/51 |
5746.52 Rank: 23/51 |
5.325 Rank: 7/51 |
0.28372 Rank: 34/51 |
0.67753 (±0.00000) Rank: 35/51 |
0.73919 (±0.00000) Rank: 36/51 |
LMS | 7890.1 | 322.27 | 98.73 Rank: 33/51 |
2607.82 Rank: 36/51 |
5.241 Rank: 14/51 |
0.34171 Rank: 35/51 |
0.76572 (±0.00000) Rank: 33/51 |
0.82800 (±0.00000) Rank: 33/51 |
LB | 7832.7 | 550.56 | 98.16 Rank: 19/51 |
3640.62 Rank: 26/51 |
5.898 Rank: 9/51 |
0.49016 Rank: 28/51 |
0.71964 (±0.00000) Rank: 14/51 |
0.80405 (±0.00000) Rank: 16/51 |
MC | 7988.3 | 926.88 | 100.00 Rank: 1/51 |
5652.56 Rank: 18/51 |
6.248 Rank: 9/51 |
0.36433 Rank: 27/51 |
0.53032 (±0.00000) Rank: 30/51 |
0.68109 (±0.00000) Rank: 29/51 |
MR | 7995.9 | 890.62 | 95.40 Rank: 12/51 |
6424.60 Rank: 17/51 |
5.359 Rank: 8/51 |
0.45490 Rank: 3/51 |
0.47552 (±0.00000) Rank: 12/51 |
0.58837 (±0.00000) Rank: 15/51 |
PSM | 8000.0 | 439.95 | 96.33 Rank: 26/51 |
5214.55 Rank: 24/51 |
4.211 Rank: 16/51 |
0.45638 Rank: 18/51 |
0.49319 (±0.00000) Rank: 24/51 |
0.57059 (±0.00000) Rank: 25/51 |
SF | 8000.0 | 742.78 | 97.12 Rank: 28/51 |
6485.47 Rank: 22/51 |
5.148 Rank: 9/51 |
0.37999 Rank: 47/51 |
0.72153 (±0.00000) Rank: 26/51 |
0.80350 (±0.00000) Rank: 26/51 |
SPC | 8000.0 | 591.58 | 99.28 Rank: 27/51 |
4958.38 Rank: 20/51 |
5.386 Rank: 10/51 |
0.52277 Rank: 32/51 |
0.69240 (±0.00000) Rank: 27/51 |
0.79550 (±0.00000) Rank: 27/51 |
Avg | 7962.0 | 663.77 | 97.95 Rank: 27/51 |
4995.65 Rank: 20/51 |
5.466 Rank: 8/51 |
0.41509 Rank: 30/51 |
0.62076 (±0.00000) Rank: 26/51 |
0.71896 (±0.00000) Rank: 27/51 |
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/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.55465 (±0.00000 over 1 run(s) / ±0.09273 over 3 scenes)
Rank (per category): 28 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 410.9 | 0.099 Rank: 22/51 |
0.009 Rank: 27/51 |
0.33148 (±0.00000) Rank: 30/51 |
0.45742 (±0.00000) Rank: 31/51 |
Pond | 8000.0 | — | 462.7 | 0.126 Rank: 22/51 |
0.055 Rank: 12/51 |
0.38637 (±0.00000) Rank: 31/51 |
0.52705 (±0.00000) Rank: 30/51 |
Tree | 8000.0 | — | 306.4 | 0.106 Rank: 25/51 |
0.020 Rank: 19/51 |
0.55673 (±0.00000) Rank: 23/51 |
0.67947 (±0.00000) Rank: 23/51 |
Avg | 8000.0 | — | 393.4 | 0.110 Rank: 24/51 |
0.028 Rank: 10/51 |
0.42486 (±0.00000) Rank: 30/51 |
0.55465 (±0.00000) Rank: 28/51 |
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/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11406 over 3 scenes)
Rank (per category): 31 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 522.13 | 83.63 Rank: 24/51 |
1743.71 Rank: 26/51 |
3.546 Rank: 7/51 |
14.15713 Rank: 25/51 |
0.44536 (±0.00000) Rank: 33/51 |
0.55006 (±0.00000) Rank: 31/51 |
Pond | 8000.0 | 773.89 | 69.43 Rank: 21/51 |
2091.80 Rank: 24/51 |
3.024 Rank: 16/51 |
0.43235 Rank: 20/51 |
0.24733 (±0.00000) Rank: 29/51 |
0.27884 (±0.00000) Rank: 32/51 |
Tree | 8000.0 | 390.36 | 72.27 Rank: 13/51 |
999.65 Rank: 26/51 |
2.993 Rank: 17/51 |
6.27949 Rank: 31/51 |
0.43511 (±0.00000) Rank: 23/51 |
0.47259 (±0.00000) Rank: 22/51 |
Avg | 8000.0 | 562.13 | 75.11 Rank: 20/51 |
1611.72 Rank: 26/51 |
3.188 Rank: 10/51 |
6.95632 Rank: 31/51 |
0.37593 (±0.00000) Rank: 31/51 |
0.43383 (±0.00000) Rank: 31/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.32731 (±0.00000 over 1 run(s) / ±0.12819 over 17 scenes)
Rank (per category): 17 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 7978.5 | — | 368.3 | 0.23661 (±0.00000) Rank: 13/51 |
0.36696 (±0.00000) Rank: 14/51 |
Bangkok (BGK) | 7898.2 | — | 275.0 | 0.06700 (±0.00000) Rank: 13/51 |
0.17866 (±0.00000) Rank: 14/51 |
Barcelona (BCN) | 7998.5 | — | 336.2 | 0.09304 (±0.00000) Rank: 22/51 |
0.16850 (±0.00000) Rank: 22/51 |
Buenos Aires (BAR) | 7986.1 | — | 347.0 | 0.21279 (±0.00000) Rank: 13/51 |
0.34932 (±0.00000) Rank: 13/51 |
Cambridge (CAM) | 7653.5 | — | 267.8 | 0.24315 (±0.00000) Rank: 13/51 |
0.34966 (±0.00000) Rank: 17/51 |
Cannes (CAN) | 7987.5 | — | 313.6 | 0.39539 (±0.00000) Rank: 15/51 |
0.50415 (±0.00000) Rank: 6/51 |
Chicago (CHI) | 7600.3 | — | 196.1 | 0.14809 (±0.00000) Rank: 15/51 |
0.23490 (±0.00000) Rank: 16/51 |
Helsinki (HEL) | 7988.8 | — | 396.2 | 0.37268 (±0.00000) Rank: 13/51 |
0.56598 (±0.00000) Rank: 14/51 |
Madrid (MAD) | 8000.0 | — | 196.3 | 0.05714 (±0.00000) Rank: 20/51 |
0.12827 (±0.00000) Rank: 20/51 |
Mountain View (MTV) | 7911.3 | — | 195.8 | 0.16992 (±0.00000) Rank: 16/51 |
0.27949 (±0.00000) Rank: 15/51 |
New Orleans (NOR) | 7843.7 | — | 232.8 | 0.23195 (±0.00000) Rank: 14/51 |
0.29497 (±0.00000) Rank: 17/51 |
San Francisco (SF) | 7832.4 | — | 338.6 | 0.15118 (±0.00000) Rank: 16/51 |
0.26457 (±0.00000) Rank: 16/51 |
Singapore (SG) | 7807.7 | — | 220.7 | 0.19494 (±0.00000) Rank: 22/51 |
0.28703 (±0.00000) Rank: 22/51 |
Sydney (SYD) | 8000.0 | — | 244.7 | 0.26725 (±0.00000) Rank: 14/51 |
0.40087 (±0.00000) Rank: 14/51 |
Tokyo (TOK) | 7989.2 | — | 235.7 | 0.45980 (±0.00000) Rank: 17/51 |
0.60270 (±0.00000) Rank: 15/51 |
Toronto (TOR) | 7986.5 | — | 147.0 | 0.16640 (±0.00000) Rank: 12/51 |
0.31360 (±0.00000) Rank: 12/51 |
Zurich (ZRH) | 8000.0 | — | 282.8 | 0.20962 (±0.00000) Rank: 23/51 |
0.27457 (±0.00000) Rank: 24/51 |
Average (Avg) | 7909.6 | — | 270.3 | 0.21629 (±0.00000) Rank: 17/51 |
0.32731 (±0.00000) Rank: 17/51 |
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/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10938 over 17 scenes)
Rank (per category): 17 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 7978.5 | 227.91 | 81.22 Rank: 21/51 |
1874.69 Rank: 16/51 |
3.674 Rank: 7/51 |
20.69713 Rank: 7/51 |
0.24953 (±0.00000) Rank: 17/51 |
0.33793 (±0.00000) Rank: 17/51 |
BGK | 7898.2 | 193.43 | 94.80 Rank: 12/51 |
2176.45 Rank: 17/51 |
3.784 Rank: 4/51 |
12.26516 Rank: 10/51 |
0.01430 (±0.00000) Rank: 26/51 |
0.04938 (±0.00000) Rank: 26/51 |
BCN | 7998.5 | 189.80 | 79.86 Rank: 15/51 |
1382.52 Rank: 13/51 |
3.492 Rank: 8/51 |
23.03952 Rank: 6/51 |
0.08825 (±0.00000) Rank: 19/51 |
0.13633 (±0.00000) Rank: 21/51 |
BAR | 7986.1 | 191.24 | 70.72 Rank: 16/51 |
989.17 Rank: 16/51 |
3.063 Rank: 17/51 |
12.59204 Rank: 13/51 |
0.08055 (±0.00000) Rank: 17/51 |
0.13551 (±0.00000) Rank: 17/51 |
CAM | 7653.5 | 166.48 | 76.02 Rank: 16/51 |
1455.83 Rank: 15/51 |
3.235 Rank: 9/51 |
18.25832 Rank: 7/51 |
0.09547 (±0.00000) Rank: 22/51 |
0.14606 (±0.00000) Rank: 22/51 |
CAN | 7987.5 | 175.08 | 66.69 Rank: 13/51 |
731.41 Rank: 14/51 |
3.371 Rank: 9/51 |
13.02241 Rank: 11/51 |
0.03356 (±0.00000) Rank: 16/51 |
0.07365 (±0.00000) Rank: 14/51 |
CHI | 7600.3 | 175.68 | 87.69 Rank: 11/51 |
512.01 Rank: 14/51 |
5.923 Rank: 1/51 |
46.12219 Rank: 18/51 |
0.09273 (±0.00000) Rank: 14/51 |
0.17248 (±0.00000) Rank: 13/51 |
HEL | 7988.8 | 290.52 | 89.15 Rank: 22/51 |
2771.19 Rank: 16/51 |
3.485 Rank: 11/51 |
12.12874 Rank: 9/51 |
0.23163 (±0.00000) Rank: 22/51 |
0.36100 (±0.00000) Rank: 22/51 |
MAD | 8000.0 | 127.02 | 79.93 Rank: 21/51 |
1349.38 Rank: 16/51 |
3.411 Rank: 4/51 |
5.06093 Rank: 14/51 |
0.03761 (±0.00000) Rank: 19/51 |
0.08710 (±0.00000) Rank: 19/51 |
MTV | 7911.3 | 140.68 | 83.18 Rank: 18/51 |
1262.75 Rank: 17/51 |
3.737 Rank: 6/51 |
13.46668 Rank: 8/51 |
0.13169 (±0.00000) Rank: 19/51 |
0.23137 (±0.00000) Rank: 18/51 |
NOR | 7843.7 | 155.35 | 62.04 Rank: 19/51 |
812.76 Rank: 15/51 |
3.014 Rank: 14/51 |
8.52535 Rank: 12/51 |
0.08444 (±0.00000) Rank: 19/51 |
0.11895 (±0.00000) Rank: 19/51 |
SF | 7832.4 | 192.15 | 80.25 Rank: 19/51 |
1594.16 Rank: 13/51 |
3.218 Rank: 16/51 |
15.08928 Rank: 12/51 |
0.14184 (±0.00000) Rank: 17/51 |
0.22628 (±0.00000) Rank: 17/51 |
SG | 7807.7 | 139.16 | 62.22 Rank: 21/51 |
854.30 Rank: 17/51 |
3.135 Rank: 12/51 |
12.96583 Rank: 9/51 |
0.07410 (±0.00000) Rank: 19/51 |
0.11071 (±0.00000) Rank: 20/51 |
SYD | 8000.0 | 144.56 | 73.95 Rank: 15/51 |
835.29 Rank: 16/51 |
3.298 Rank: 8/51 |
13.81896 Rank: 17/51 |
0.16726 (±0.00000) Rank: 13/51 |
0.23689 (±0.00000) Rank: 15/51 |
TOK | 7989.2 | 148.61 | 80.95 Rank: 21/51 |
1636.35 Rank: 18/51 |
3.468 Rank: 9/51 |
9.19479 Rank: 6/51 |
0.40278 (±0.00000) Rank: 19/51 |
0.46316 (±0.00000) Rank: 20/51 |
TOR | 7986.5 | 91.66 | 78.00 Rank: 13/51 |
825.85 Rank: 16/51 |
3.172 Rank: 11/51 |
13.43158 Rank: 16/51 |
0.08944 (±0.00000) Rank: 14/51 |
0.17336 (±0.00000) Rank: 12/51 |
ZRH | 8000.0 | 169.01 | 69.47 Rank: 22/51 |
1285.32 Rank: 20/51 |
3.172 Rank: 8/51 |
13.44663 Rank: 8/51 |
0.05151 (±0.00000) Rank: 19/51 |
0.09438 (±0.00000) Rank: 19/51 |
Avg | 7909.6 | 171.67 | 77.42 Rank: 18/51 |
1314.67 Rank: 17/51 |
3.509 Rank: 6/51 |
15.47797 Rank: 9/51 |
0.12157 (±0.00000) Rank: 18/51 |
0.18556 (±0.00000) Rank: 17/51 |
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/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/39b1eaf871e117ad-disk_ransac_test1/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)