Submission ID: 45896f5c
sp_sg_degensac
Processed: 21-05-28. Download link: 45896f5cdc43cc85-degree.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: Adam (contact)
- Keypoint: superpoint
- Descriptor: superpoint (256 float32: 1024 bytes)
- Number of features: 2048
- Summary: we use superglue and DEGENSAC to filter raw match.
- Paper: N/A
- Website: N/A
- Processing date: 21-05-28
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.52578 (±0.00000 over 1 run(s) / ±0.14536 over 9 scenes)
Rank (per category): 41 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 1966.2 | — | 259.5 | 0.391 Rank: 86/87 |
0.869 Rank: 65/87 |
0.31025 (±0.00000) Rank: 35/87 |
0.45884 (±0.00000) Rank: 37/87 |
FCS | 2042.1 | — | 363.1 | 0.370 Rank: 63/87 |
0.850 Rank: 60/87 |
0.60614 (±0.00000) Rank: 39/87 |
0.73419 (±0.00000) Rank: 38/87 |
LMS | 1876.5 | — | 352.0 | 0.355 Rank: 75/87 |
0.675 Rank: 54/87 |
0.55946 (±0.00000) Rank: 37/87 |
0.68114 (±0.00000) Rank: 39/87 |
LB | 2030.5 | — | 252.3 | 0.333 Rank: 79/87 |
0.690 Rank: 51/87 |
0.45262 (±0.00000) Rank: 35/87 |
0.57457 (±0.00000) Rank: 41/87 |
MC | 2047.0 | — | 255.7 | 0.366 Rank: 80/87 |
0.825 Rank: 73/87 |
0.28518 (±0.00000) Rank: 35/87 |
0.42641 (±0.00000) Rank: 56/87 |
MR | 1809.9 | — | 215.0 | 0.389 Rank: 59/87 |
0.878 Rank: 62/87 |
0.20566 (±0.00000) Rank: 62/87 |
0.29800 (±0.00000) Rank: 62/87 |
PSM | 2045.2 | — | 239.2 | 0.275 Rank: 82/87 |
0.534 Rank: 60/87 |
0.19272 (±0.00000) Rank: 41/87 |
0.33056 (±0.00000) Rank: 41/87 |
SF | 2018.9 | — | 389.6 | 0.346 Rank: 68/87 |
0.768 Rank: 64/87 |
0.45225 (±0.00000) Rank: 44/87 |
0.60322 (±0.00000) Rank: 41/87 |
SPC | 2046.8 | — | 294.4 | 0.335 Rank: 77/87 |
0.774 Rank: 66/87 |
0.45932 (±0.00000) Rank: 41/87 |
0.62509 (±0.00000) Rank: 39/87 |
Avg | 1987.0 | — | 291.2 | 0.351 Rank: 80/87 |
0.763 Rank: 66/87 |
0.39151 (±0.00000) Rank: 41/87 |
0.52578 (±0.00000) Rank: 41/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11672 over 9 scenes)
Rank (per category): 38 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 1966.2 | 261.55 | 100.00 Rank: 1/87 |
1681.39 Rank: 50/87 |
4.532 Rank: 73/87 |
0.36098 Rank: 29/87 |
0.58661 (±0.00000) Rank: 24/87 |
0.72643 (±0.00000) Rank: 20/87 |
FCS | 2042.1 | 364.41 | 97.33 Rank: 49/87 |
2097.76 Rank: 55/87 |
4.790 Rank: 57/87 |
0.24426 Rank: 29/87 |
0.74048 (±0.00000) Rank: 32/87 |
0.79745 (±0.00000) Rank: 33/87 |
LMS | 1876.5 | 371.78 | 99.73 Rank: 5/87 |
1742.24 Rank: 44/87 |
5.138 Rank: 60/87 |
0.29178 Rank: 35/87 |
0.86389 (±0.00000) Rank: 15/87 |
0.91533 (±0.00000) Rank: 10/87 |
LB | 2030.5 | 299.96 | 98.36 Rank: 1/87 |
1570.71 Rank: 51/87 |
4.925 Rank: 59/87 |
0.46981 Rank: 11/87 |
0.69753 (±0.00000) Rank: 40/87 |
0.79754 (±0.00000) Rank: 40/87 |
MC | 2047.0 | 251.71 | 100.00 Rank: 1/87 |
1592.87 Rank: 57/87 |
4.644 Rank: 62/87 |
0.34977 Rank: 22/87 |
0.54891 (±0.00000) Rank: 36/87 |
0.69279 (±0.00000) Rank: 36/87 |
MR | 1809.9 | 210.95 | 94.87 Rank: 28/87 |
1196.75 Rank: 68/87 |
4.608 Rank: 58/87 |
0.52611 Rank: 39/87 |
0.35925 (±0.00000) Rank: 61/87 |
0.48699 (±0.00000) Rank: 59/87 |
PSM | 2045.2 | 236.62 | 97.61 Rank: 44/87 |
1945.91 Rank: 55/87 |
4.144 Rank: 51/87 |
0.38676 Rank: 44/87 |
0.61812 (±0.00000) Rank: 42/87 |
0.70643 (±0.00000) Rank: 42/87 |
SF | 2018.9 | 381.67 | 99.80 Rank: 27/87 |
2308.75 Rank: 52/87 |
4.865 Rank: 48/87 |
0.27937 Rank: 20/87 |
0.76455 (±0.00000) Rank: 38/87 |
0.84506 (±0.00000) Rank: 39/87 |
SPC | 2046.8 | 303.33 | 100.00 Rank: 1/87 |
1811.33 Rank: 54/87 |
4.912 Rank: 53/87 |
0.45923 Rank: 42/87 |
0.73837 (±0.00000) Rank: 35/87 |
0.83450 (±0.00000) Rank: 35/87 |
Avg | 1987.0 | 298.00 | 98.63 Rank: 38/87 |
1771.97 Rank: 53/87 |
4.729 Rank: 56/87 |
0.37423 Rank: 35/87 |
0.65752 (±0.00000) Rank: 38/87 |
0.75584 (±0.00000) Rank: 38/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.72882 (±0.00000 over 1 run(s) / ±0.04011 over 3 scenes)
Rank (per category): 31 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 1884.7 | — | 276.7 | 0.031 Rank: 53/87 |
0.009 Rank: 53/87 |
0.57060 (±0.00000) Rank: 30/87 |
0.71012 (±0.00000) Rank: 27/87 |
Pond | 2048.0 | — | 287.0 | 0.047 Rank: 64/87 |
0.046 Rank: 59/87 |
0.53427 (±0.00000) Rank: 39/87 |
0.69178 (±0.00000) Rank: 33/87 |
Tree | 2048.0 | — | 178.5 | 0.028 Rank: 59/87 |
0.026 Rank: 5/87 |
0.65828 (±0.00000) Rank: 36/87 |
0.78455 (±0.00000) Rank: 35/87 |
Avg | 1993.6 | — | 247.4 | 0.035 Rank: 57/87 |
0.027 Rank: 32/87 |
0.58771 (±0.00000) Rank: 34/87 |
0.72882 (±0.00000) Rank: 31/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13818 over 3 scenes)
Rank (per category): 22 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 1884.7 | 303.15 | 85.70 Rank: 2/87 |
992.08 Rank: 40/87 |
3.417 Rank: 18/87 |
14.57073 Rank: 66/87 |
0.58227 (±0.00000) Rank: 30/87 |
0.67091 (±0.00000) Rank: 24/87 |
Pond | 2048.0 | 322.35 | 68.93 Rank: 28/87 |
797.17 Rank: 52/87 |
2.820 Rank: 54/87 |
0.42395 Rank: 28/87 |
0.30231 (±0.00000) Rank: 5/87 |
0.33709 (±0.00000) Rank: 4/87 |
Tree | 2048.0 | 174.77 | 71.06 Rank: 37/87 |
420.50 Rank: 55/87 |
2.901 Rank: 58/87 |
6.09731 Rank: 46/87 |
0.41851 (±0.00000) Rank: 46/87 |
0.45554 (±0.00000) Rank: 43/87 |
Avg | 1993.6 | 266.76 | 75.23 Rank: 19/87 |
736.59 Rank: 47/87 |
3.046 Rank: 52/87 |
7.03066 Rank: 66/87 |
0.43436 (±0.00000) Rank: 32/87 |
0.48785 (±0.00000) Rank: 22/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.38172 (±0.00000 over 1 run(s) / ±0.13246 over 17 scenes)
Rank (per category): 31 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 1825.0 | — | 221.3 | 0.22500 (±0.00000) Rank: 30/87 |
0.36607 (±0.00000) Rank: 33/87 |
Bangkok (BGK) | 1555.5 | — | 238.0 | 0.05806 (±0.00000) Rank: 27/87 |
0.16402 (±0.00000) Rank: 31/87 |
Barcelona (BCN) | 1467.5 | — | 171.7 | 0.09231 (±0.00000) Rank: 41/87 |
0.19341 (±0.00000) Rank: 34/87 |
Buenos Aires (BAR) | 1396.0 | — | 182.2 | 0.18630 (±0.00000) Rank: 30/87 |
0.35799 (±0.00000) Rank: 30/87 |
Cambridge (CAM) | 1576.4 | — | 162.4 | 0.27534 (±0.00000) Rank: 30/87 |
0.41849 (±0.00000) Rank: 32/87 |
Cannes (CAN) | 1358.5 | — | 194.3 | 0.37604 (±0.00000) Rank: 36/87 |
0.48479 (±0.00000) Rank: 36/87 |
Chicago (CHI) | 1670.5 | — | 112.9 | 0.19331 (±0.00000) Rank: 29/87 |
0.32876 (±0.00000) Rank: 27/87 |
Helsinki (HEL) | 1606.0 | — | 335.5 | 0.33711 (±0.00000) Rank: 33/87 |
0.54691 (±0.00000) Rank: 33/87 |
Madrid (MAD) | 1409.0 | — | 129.9 | 0.07660 (±0.00000) Rank: 31/87 |
0.19331 (±0.00000) Rank: 21/87 |
Mountain View (MTV) | 1357.9 | — | 167.7 | 0.19687 (±0.00000) Rank: 32/87 |
0.34551 (±0.00000) Rank: 32/87 |
New Orleans (NOR) | 1652.1 | — | 146.3 | 0.27101 (±0.00000) Rank: 28/87 |
0.38284 (±0.00000) Rank: 28/87 |
San Francisco (SF) | 1356.5 | — | 184.7 | 0.21942 (±0.00000) Rank: 5/87 |
0.36404 (±0.00000) Rank: 14/87 |
Singapore (SG) | 1581.3 | — | 176.8 | 0.32405 (±0.00000) Rank: 25/87 |
0.44905 (±0.00000) Rank: 30/87 |
Sydney (SYD) | 1620.4 | — | 223.2 | 0.31004 (±0.00000) Rank: 32/87 |
0.45677 (±0.00000) Rank: 32/87 |
Tokyo (TOK) | 1707.5 | — | 268.7 | 0.59118 (±0.00000) Rank: 28/87 |
0.73284 (±0.00000) Rank: 30/87 |
Toronto (TOR) | 1612.4 | — | 179.6 | 0.21680 (±0.00000) Rank: 17/87 |
0.36280 (±0.00000) Rank: 31/87 |
Zurich (ZRH) | 1245.3 | — | 207.0 | 0.26048 (±0.00000) Rank: 26/87 |
0.34158 (±0.00000) Rank: 27/87 |
Average (Avg) | 1529.3 | — | 194.3 | 0.24764 (±0.00000) Rank: 31/87 |
0.38172 (±0.00000) Rank: 31/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15921 over 17 scenes)
Rank (per category): 31 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 1825.0 | 146.24 | 90.58 Rank: 34/87 |
1134.62 Rank: 36/87 |
3.722 Rank: 35/87 |
28.26808 Rank: 50/87 |
0.34410 (±0.00000) Rank: 25/87 |
0.46820 (±0.00000) Rank: 22/87 |
BGK | 1555.5 | 165.73 | 96.93 Rank: 18/87 |
1443.59 Rank: 38/87 |
3.702 Rank: 14/87 |
13.00779 Rank: 23/87 |
0.02888 (±0.00000) Rank: 24/87 |
0.08297 (±0.00000) Rank: 31/87 |
BCN | 1467.5 | 105.34 | 81.65 Rank: 34/87 |
732.53 Rank: 37/87 |
3.699 Rank: 31/87 |
27.15570 Rank: 27/87 |
0.14204 (±0.00000) Rank: 17/87 |
0.22103 (±0.00000) Rank: 18/87 |
BAR | 1396.0 | 108.77 | 84.33 Rank: 31/87 |
817.64 Rank: 36/87 |
3.383 Rank: 24/87 |
15.95286 Rank: 23/87 |
0.15896 (±0.00000) Rank: 24/87 |
0.26466 (±0.00000) Rank: 25/87 |
CAM | 1576.4 | 104.14 | 81.50 Rank: 37/87 |
738.68 Rank: 38/87 |
3.451 Rank: 34/87 |
23.46530 Rank: 15/87 |
0.17939 (±0.00000) Rank: 22/87 |
0.26481 (±0.00000) Rank: 23/87 |
CAN | 1358.5 | 109.46 | 62.01 Rank: 44/87 |
376.38 Rank: 42/87 |
3.136 Rank: 44/87 |
14.29547 Rank: 11/87 |
0.05765 (±0.00000) Rank: 30/87 |
0.09811 (±0.00000) Rank: 33/87 |
CHI | 1670.5 | 100.65 | 85.43 Rank: 31/87 |
355.55 Rank: 34/87 |
4.253 Rank: 30/87 |
47.26200 Rank: 26/87 |
0.07630 (±0.00000) Rank: 33/87 |
0.15069 (±0.00000) Rank: 33/87 |
HEL | 1606.0 | 242.51 | 93.47 Rank: 35/87 |
1633.99 Rank: 38/87 |
4.000 Rank: 28/87 |
15.37369 Rank: 40/87 |
0.36359 (±0.00000) Rank: 10/87 |
0.50190 (±0.00000) Rank: 9/87 |
MAD | 1409.0 | 86.91 | 88.97 Rank: 34/87 |
951.40 Rank: 36/87 |
3.229 Rank: 39/87 |
5.53952 Rank: 22/87 |
0.08664 (±0.00000) Rank: 32/87 |
0.17668 (±0.00000) Rank: 33/87 |
MTV | 1357.9 | 122.90 | 91.44 Rank: 27/87 |
996.14 Rank: 35/87 |
3.814 Rank: 26/87 |
16.93493 Rank: 31/87 |
0.25551 (±0.00000) Rank: 33/87 |
0.38288 (±0.00000) Rank: 32/87 |
NOR | 1652.1 | 99.69 | 81.26 Rank: 33/87 |
679.47 Rank: 34/87 |
3.192 Rank: 38/87 |
11.55311 Rank: 21/87 |
0.22846 (±0.00000) Rank: 30/87 |
0.31486 (±0.00000) Rank: 30/87 |
SF | 1356.5 | 124.01 | 91.60 Rank: 37/87 |
1026.09 Rank: 34/87 |
3.617 Rank: 36/87 |
20.37043 Rank: 30/87 |
0.26726 (±0.00000) Rank: 31/87 |
0.41791 (±0.00000) Rank: 27/87 |
SG | 1581.3 | 111.06 | 73.25 Rank: 35/87 |
688.15 Rank: 36/87 |
3.158 Rank: 42/87 |
15.23716 Rank: 13/87 |
0.21016 (±0.00000) Rank: 31/87 |
0.27608 (±0.00000) Rank: 32/87 |
SYD | 1620.4 | 138.14 | 88.10 Rank: 25/87 |
1169.06 Rank: 32/87 |
3.507 Rank: 28/87 |
21.50806 Rank: 34/87 |
0.29613 (±0.00000) Rank: 20/87 |
0.39068 (±0.00000) Rank: 15/87 |
TOK | 1707.5 | 167.98 | 92.27 Rank: 32/87 |
1542.53 Rank: 35/87 |
3.697 Rank: 33/87 |
14.27564 Rank: 18/87 |
0.66690 (±0.00000) Rank: 20/87 |
0.73189 (±0.00000) Rank: 27/87 |
TOR | 1612.4 | 116.34 | 87.20 Rank: 32/87 |
1174.24 Rank: 34/87 |
3.225 Rank: 23/87 |
18.33400 Rank: 43/87 |
0.20520 (±0.00000) Rank: 15/87 |
0.33983 (±0.00000) Rank: 11/87 |
ZRH | 1245.3 | 130.25 | 86.08 Rank: 33/87 |
1187.55 Rank: 33/87 |
3.401 Rank: 32/87 |
17.68052 Rank: 19/87 |
0.12091 (±0.00000) Rank: 16/87 |
0.19197 (±0.00000) Rank: 17/87 |
Avg | 1529.3 | 128.24 | 85.65 Rank: 33/87 |
979.27 Rank: 36/87 |
3.540 Rank: 36/87 |
19.18907 Rank: 20/87 |
0.21695 (±0.00000) Rank: 31/87 |
0.31030 (±0.00000) Rank: 31/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/45896f5cdc43cc85-degree/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)