Submission ID: 3b4a64d1
LoFTR
Processed: 21-06-09. Download link: 3b4a64d1abed8c5b-loftr_v1.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: Jiaming Sun, Xingyi He, Zehong Shen, Yuang Wang (contact)
- Keypoint: free
- Descriptor: free (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Local feature transformer
- Paper: N/A
- Website: N/A
- Processing date: 21-06-09
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.62374 (±0.00000 over 1 run(s) / ±0.13379 over 9 scenes)
Rank (per category): 2 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7370.6 | — | 186.6 | 0.536 Rank: 29/51 |
0.949 Rank: 8/51 |
0.48975 (±0.00000) Rank: 4/51 |
0.64144 (±0.00000) Rank: 1/51 |
FCS | 7538.6 | — | 181.6 | 0.429 Rank: 41/51 |
0.930 Rank: 4/51 |
0.67072 (±0.00000) Rank: 7/51 |
0.78723 (±0.00000) Rank: 6/51 |
LMS | 6668.1 | — | 125.2 | 0.350 Rank: 45/51 |
0.721 Rank: 2/51 |
0.59090 (±0.00000) Rank: 10/51 |
0.70327 (±0.00000) Rank: 14/51 |
LB | 7174.1 | — | 217.0 | 0.675 Rank: 3/51 |
0.726 Rank: 23/51 |
0.55023 (±0.00000) Rank: 4/51 |
0.64256 (±0.00000) Rank: 5/51 |
MC | 7467.5 | — | 232.8 | 0.621 Rank: 24/51 |
0.925 Rank: 17/51 |
0.46045 (±0.00000) Rank: 4/51 |
0.60854 (±0.00000) Rank: 3/51 |
MR | 7183.4 | — | 178.6 | 0.486 Rank: 36/51 |
0.955 Rank: 10/51 |
0.33634 (±0.00000) Rank: 11/51 |
0.45746 (±0.00000) Rank: 8/51 |
PSM | 7412.8 | — | 127.0 | 0.421 Rank: 26/51 |
0.644 Rank: 28/51 |
0.21686 (±0.00000) Rank: 11/51 |
0.34207 (±0.00000) Rank: 12/51 |
SF | 6870.0 | — | 133.0 | 0.383 Rank: 49/51 |
0.863 Rank: 7/51 |
0.54721 (±0.00000) Rank: 14/51 |
0.67489 (±0.00000) Rank: 14/51 |
SPC | 7449.0 | — | 194.8 | 0.531 Rank: 24/51 |
0.867 Rank: 9/51 |
0.61812 (±0.00000) Rank: 1/51 |
0.75618 (±0.00000) Rank: 1/51 |
Avg | 7237.1 | — | 175.2 | 0.492 Rank: 28/51 |
0.842 Rank: 14/51 |
0.49784 (±0.00000) Rank: 2/51 |
0.62374 (±0.00000) Rank: 2/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.17780 over 9 scenes)
Rank (per category): 45 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7370.6 | 185.74 | 99.68 Rank: 33/51 |
3515.66 Rank: 27/51 |
3.399 Rank: 44/51 |
0.36191 Rank: 6/51 |
0.51917 (±0.00000) Rank: 19/51 |
0.63580 (±0.00000) Rank: 25/51 |
FCS | 7538.6 | 180.05 | 95.09 Rank: 42/51 |
3314.64 Rank: 42/51 |
3.332 Rank: 49/51 |
0.29214 Rank: 38/51 |
0.59818 (±0.00000) Rank: 44/51 |
0.64056 (±0.00000) Rank: 45/51 |
LMS | 6668.1 | 129.12 | 96.21 Rank: 45/51 |
1260.17 Rank: 42/51 |
4.256 Rank: 39/51 |
0.35562 Rank: 40/51 |
0.73036 (±0.00000) Rank: 40/51 |
0.79327 (±0.00000) Rank: 42/51 |
LB | 7174.1 | 241.16 | 97.00 Rank: 38/51 |
4030.36 Rank: 20/51 |
3.713 Rank: 45/51 |
0.50979 Rank: 38/51 |
0.68938 (±0.00000) Rank: 28/51 |
0.77682 (±0.00000) Rank: 32/51 |
MC | 7467.5 | 227.08 | 99.12 Rank: 40/51 |
4536.95 Rank: 29/51 |
3.488 Rank: 45/51 |
0.31328 Rank: 2/51 |
0.56045 (±0.00000) Rank: 14/51 |
0.69311 (±0.00000) Rank: 18/51 |
MR | 7183.4 | 171.28 | 79.22 Rank: 45/51 |
2527.13 Rank: 47/51 |
2.964 Rank: 50/51 |
0.61499 Rank: 50/51 |
0.27706 (±0.00000) Rank: 45/51 |
0.34492 (±0.00000) Rank: 45/51 |
PSM | 7412.8 | 121.83 | 81.27 Rank: 41/51 |
2197.52 Rank: 45/51 |
2.653 Rank: 46/51 |
0.90063 Rank: 49/51 |
0.21268 (±0.00000) Rank: 44/51 |
0.24067 (±0.00000) Rank: 44/51 |
SF | 6870.0 | 131.22 | 94.91 Rank: 40/51 |
2349.01 Rank: 48/51 |
3.374 Rank: 50/51 |
0.36712 Rank: 44/51 |
0.59428 (±0.00000) Rank: 44/51 |
0.65803 (±0.00000) Rank: 45/51 |
SPC | 7449.0 | 194.54 | 98.18 Rank: 36/51 |
3922.66 Rank: 31/51 |
3.316 Rank: 45/51 |
0.56250 Rank: 39/51 |
0.61938 (±0.00000) Rank: 39/51 |
0.68533 (±0.00000) Rank: 41/51 |
Avg | 7237.1 | 175.78 | 93.41 Rank: 45/51 |
3072.68 Rank: 38/51 |
3.388 Rank: 45/51 |
0.47533 Rank: 42/51 |
0.53344 (±0.00000) Rank: 41/51 |
0.60761 (±0.00000) Rank: 45/51 |
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/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.75469 (±0.00000 over 1 run(s) / ±0.07716 over 3 scenes)
Rank (per category): 6 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 7573.2 | — | 286.3 | 0.087 Rank: 28/51 |
0.012 Rank: 6/51 |
0.59085 (±0.00000) Rank: 5/51 |
0.71096 (±0.00000) Rank: 5/51 |
Pond | 7866.3 | — | 405.4 | 0.108 Rank: 33/51 |
0.044 Rank: 37/51 |
0.56954 (±0.00000) Rank: 9/51 |
0.68998 (±0.00000) Rank: 12/51 |
Tree | 7712.7 | — | 606.7 | 0.133 Rank: 13/51 |
0.020 Rank: 15/51 |
0.79426 (±0.00000) Rank: 4/51 |
0.86313 (±0.00000) Rank: 5/51 |
Avg | 7717.4 | — | 432.8 | 0.109 Rank: 26/51 |
0.025 Rank: 33/51 |
0.65155 (±0.00000) Rank: 6/51 |
0.75469 (±0.00000) Rank: 6/51 |
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/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10628 over 3 scenes)
Rank (per category): 21 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 7573.2 | 243.19 | 82.00 Rank: 30/51 |
748.53 Rank: 34/51 |
2.759 Rank: 34/51 |
14.12107 Rank: 24/51 |
0.50624 (±0.00000) Rank: 24/51 |
0.59414 (±0.00000) Rank: 27/51 |
Pond | 7866.3 | 346.23 | 71.10 Rank: 10/51 |
697.95 Rank: 34/51 |
2.476 Rank: 35/51 |
0.43971 Rank: 32/51 |
0.31278 (±0.00000) Rank: 3/51 |
0.33463 (±0.00000) Rank: 6/51 |
Tree | 7712.7 | 375.32 | 69.54 Rank: 34/51 |
1012.76 Rank: 25/51 |
2.531 Rank: 37/51 |
6.01827 Rank: 21/51 |
0.45182 (±0.00000) Rank: 17/51 |
0.48218 (±0.00000) Rank: 17/51 |
Avg | 7717.4 | 321.58 | 74.21 Rank: 30/51 |
819.75 Rank: 33/51 |
2.589 Rank: 35/51 |
6.85968 Rank: 20/51 |
0.42361 (±0.00000) Rank: 19/51 |
0.47032 (±0.00000) Rank: 21/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40669 (±0.00000 over 1 run(s) / ±0.11007 over 17 scenes)
Rank (per category): 4 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 6889.5 | — | 1301.7 | 0.28571 (±0.00000) Rank: 4/51 |
0.42277 (±0.00000) Rank: 5/51 |
Bangkok (BGK) | 7398.9 | — | 1249.8 | 0.09181 (±0.00000) Rank: 1/51 |
0.23449 (±0.00000) Rank: 1/51 |
Barcelona (BCN) | 6647.2 | — | 887.0 | 0.13333 (±0.00000) Rank: 11/51 |
0.21978 (±0.00000) Rank: 11/51 |
Buenos Aires (BAR) | 6929.5 | — | 923.2 | 0.29315 (±0.00000) Rank: 4/51 |
0.43744 (±0.00000) Rank: 1/51 |
Cambridge (CAM) | 6556.5 | — | 929.3 | 0.29726 (±0.00000) Rank: 4/51 |
0.42637 (±0.00000) Rank: 9/51 |
Cannes (CAN) | 7021.6 | — | 1335.7 | 0.40829 (±0.00000) Rank: 10/51 |
0.49447 (±0.00000) Rank: 14/51 |
Chicago (CHI) | 6882.0 | — | 839.0 | 0.25437 (±0.00000) Rank: 5/51 |
0.38668 (±0.00000) Rank: 5/51 |
Helsinki (HEL) | 6538.4 | — | 960.5 | 0.38402 (±0.00000) Rank: 4/51 |
0.58582 (±0.00000) Rank: 4/51 |
Madrid (MAD) | 6848.4 | — | 952.9 | 0.11915 (±0.00000) Rank: 2/51 |
0.25289 (±0.00000) Rank: 6/51 |
Mountain View (MTV) | 6750.9 | — | 840.7 | 0.26523 (±0.00000) Rank: 3/51 |
0.40762 (±0.00000) Rank: 7/51 |
New Orleans (NOR) | 7289.3 | — | 770.6 | 0.31302 (±0.00000) Rank: 2/51 |
0.40355 (±0.00000) Rank: 4/51 |
San Francisco (SF) | 6875.7 | — | 809.8 | 0.22677 (±0.00000) Rank: 3/51 |
0.35486 (±0.00000) Rank: 2/51 |
Singapore (SG) | 7000.8 | — | 1052.5 | 0.31139 (±0.00000) Rank: 4/51 |
0.41930 (±0.00000) Rank: 6/51 |
Sydney (SYD) | 7031.9 | — | 857.8 | 0.32751 (±0.00000) Rank: 10/51 |
0.49520 (±0.00000) Rank: 8/51 |
Tokyo (TOK) | 6903.2 | — | 816.5 | 0.50196 (±0.00000) Rank: 9/51 |
0.64975 (±0.00000) Rank: 7/51 |
Toronto (TOR) | 6982.3 | — | 1046.6 | 0.22560 (±0.00000) Rank: 6/51 |
0.39360 (±0.00000) Rank: 6/51 |
Zurich (ZRH) | 6854.4 | — | 953.4 | 0.25155 (±0.00000) Rank: 11/51 |
0.32921 (±0.00000) Rank: 8/51 |
Average (Avg) | 6905.9 | — | 972.2 | 0.27589 (±0.00000) Rank: 2/51 |
0.40669 (±0.00000) Rank: 4/51 |
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/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12586 over 17 scenes)
Rank (per category): 6 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 6889.5 | 803.98 | 93.87 Rank: 2/51 |
7073.19 Rank: 1/51 |
3.649 Rank: 8/51 |
27.89378 Rank: 27/51 |
0.38779 (±0.00000) Rank: 2/51 |
0.51399 (±0.00000) Rank: 1/51 |
BGK | 7398.9 | 879.42 | 97.33 Rank: 5/51 |
8576.35 Rank: 1/51 |
3.614 Rank: 11/51 |
14.51017 Rank: 23/51 |
0.03520 (±0.00000) Rank: 2/51 |
0.10233 (±0.00000) Rank: 3/51 |
BCN | 6647.2 | 525.92 | 86.58 Rank: 7/51 |
3620.85 Rank: 2/51 |
3.338 Rank: 15/51 |
26.53465 Rank: 15/51 |
0.14382 (±0.00000) Rank: 10/51 |
0.23170 (±0.00000) Rank: 8/51 |
BAR | 6929.5 | 516.23 | 89.93 Rank: 2/51 |
4383.49 Rank: 3/51 |
3.280 Rank: 4/51 |
17.46704 Rank: 26/51 |
0.20659 (±0.00000) Rank: 1/51 |
0.31156 (±0.00000) Rank: 1/51 |
CAM | 6556.5 | 550.34 | 88.37 Rank: 6/51 |
4421.82 Rank: 2/51 |
3.284 Rank: 7/51 |
25.15286 Rank: 19/51 |
0.17346 (±0.00000) Rank: 8/51 |
0.27021 (±0.00000) Rank: 7/51 |
CAN | 7021.6 | 664.35 | 84.88 Rank: 2/51 |
3445.58 Rank: 3/51 |
3.405 Rank: 6/51 |
23.81874 Rank: 25/51 |
0.10513 (±0.00000) Rank: 4/51 |
0.16424 (±0.00000) Rank: 6/51 |
CHI | 6882.0 | 746.59 | 92.59 Rank: 6/51 |
1884.85 Rank: 6/51 |
4.836 Rank: 13/51 |
47.42038 Rank: 21/51 |
0.19893 (±0.00000) Rank: 2/51 |
0.29401 (±0.00000) Rank: 2/51 |
HEL | 6538.4 | 639.98 | 96.67 Rank: 1/51 |
7273.13 Rank: 1/51 |
3.278 Rank: 15/51 |
14.84385 Rank: 28/51 |
0.27878 (±0.00000) Rank: 15/51 |
0.42771 (±0.00000) Rank: 12/51 |
MAD | 6848.4 | 587.56 | 90.85 Rank: 8/51 |
5903.40 Rank: 3/51 |
3.222 Rank: 10/51 |
6.11130 Rank: 22/51 |
0.08167 (±0.00000) Rank: 4/51 |
0.17154 (±0.00000) Rank: 5/51 |
MTV | 6750.9 | 587.34 | 93.06 Rank: 5/51 |
5133.36 Rank: 2/51 |
3.719 Rank: 7/51 |
15.80538 Rank: 21/51 |
0.23506 (±0.00000) Rank: 8/51 |
0.36230 (±0.00000) Rank: 8/51 |
NOR | 7289.3 | 481.57 | 86.03 Rank: 7/51 |
3210.92 Rank: 5/51 |
3.185 Rank: 9/51 |
12.58509 Rank: 21/51 |
0.20351 (±0.00000) Rank: 9/51 |
0.28477 (±0.00000) Rank: 9/51 |
SF | 6875.7 | 494.45 | 94.40 Rank: 8/51 |
4526.55 Rank: 1/51 |
3.351 Rank: 8/51 |
18.82780 Rank: 24/51 |
0.20855 (±0.00000) Rank: 6/51 |
0.33179 (±0.00000) Rank: 8/51 |
SG | 7000.8 | 628.16 | 79.46 Rank: 4/51 |
3497.16 Rank: 4/51 |
3.140 Rank: 11/51 |
15.50935 Rank: 17/51 |
0.13214 (±0.00000) Rank: 11/51 |
0.19793 (±0.00000) Rank: 9/51 |
SYD | 7031.9 | 517.81 | 86.71 Rank: 4/51 |
3697.31 Rank: 2/51 |
3.085 Rank: 14/51 |
11.30603 Rank: 8/51 |
0.22456 (±0.00000) Rank: 5/51 |
0.31894 (±0.00000) Rank: 5/51 |
TOK | 6903.2 | 541.84 | 89.07 Rank: 10/51 |
6392.18 Rank: 2/51 |
3.374 Rank: 12/51 |
16.18739 Rank: 25/51 |
0.56242 (±0.00000) Rank: 4/51 |
0.63167 (±0.00000) Rank: 5/51 |
TOR | 6982.3 | 644.12 | 92.93 Rank: 3/51 |
6027.99 Rank: 4/51 |
3.112 Rank: 15/51 |
17.64254 Rank: 24/51 |
0.16104 (±0.00000) Rank: 9/51 |
0.28037 (±0.00000) Rank: 9/51 |
ZRH | 6854.4 | 581.52 | 86.89 Rank: 5/51 |
4766.73 Rank: 2/51 |
3.030 Rank: 15/51 |
21.89605 Rank: 28/51 |
0.17183 (±0.00000) Rank: 1/51 |
0.26281 (±0.00000) Rank: 1/51 |
Avg | 6905.9 | 611.25 | 89.98 Rank: 4/51 |
4931.46 Rank: 1/51 |
3.406 Rank: 9/51 |
19.61838 Rank: 22/51 |
0.20650 (±0.00000) Rank: 6/51 |
0.30340 (±0.00000) Rank: 6/51 |
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/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/3b4a64d1abed8c5b-loftr_v1/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)