Submission ID: 53abde66
ss-two-stg-all
Processed: 21-06-16. Download link: 53abde66fb3c60e9-ssma2stg.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: yt (contact)
- Keypoint: spma2stg
- Descriptor: spsg2stg (128 float32: 512 bytes)
- Number of features: 2048
- Summary:
- Paper: N/A
- Website: N/A
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.59576 (±0.00000 over 1 run(s) / ±0.12979 over 9 scenes)
Rank (per category): 5 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 423.7 | 0.448 Rank: 61/87 |
0.892 Rank: 46/87 |
0.36001 (±0.00000) Rank: 4/87 |
0.51409 (±0.00000) Rank: 4/87 |
FCS | 2048.0 | — | 544.3 | 0.406 Rank: 39/87 |
0.870 Rank: 35/87 |
0.65954 (±0.00000) Rank: 9/87 |
0.77806 (±0.00000) Rank: 7/87 |
LMS | 2048.0 | — | 522.3 | 0.417 Rank: 38/87 |
0.677 Rank: 49/87 |
0.63086 (±0.00000) Rank: 6/87 |
0.75849 (±0.00000) Rank: 6/87 |
LB | 2048.0 | — | 431.3 | 0.392 Rank: 45/87 |
0.676 Rank: 65/87 |
0.48545 (±0.00000) Rank: 4/87 |
0.61107 (±0.00000) Rank: 18/87 |
MC | 2048.0 | — | 459.7 | 0.414 Rank: 43/87 |
0.853 Rank: 55/87 |
0.36213 (±0.00000) Rank: 4/87 |
0.52032 (±0.00000) Rank: 11/87 |
MR | 2048.0 | — | 422.5 | 0.378 Rank: 69/87 |
0.893 Rank: 42/87 |
0.28207 (±0.00000) Rank: 20/87 |
0.39978 (±0.00000) Rank: 15/87 |
PSM | 2048.0 | — | 420.5 | 0.329 Rank: 49/87 |
0.620 Rank: 20/87 |
0.26503 (±0.00000) Rank: 8/87 |
0.42903 (±0.00000) Rank: 8/87 |
SF | 2048.0 | — | 490.8 | 0.351 Rank: 60/87 |
0.779 Rank: 52/87 |
0.51863 (±0.00000) Rank: 15/87 |
0.66181 (±0.00000) Rank: 15/87 |
SPC | 2048.0 | — | 438.9 | 0.376 Rank: 54/87 |
0.795 Rank: 45/87 |
0.52794 (±0.00000) Rank: 6/87 |
0.68922 (±0.00000) Rank: 10/87 |
Avg | 2048.0 | — | 461.6 | 0.390 Rank: 55/87 |
0.784 Rank: 46/87 |
0.45463 (±0.00000) Rank: 5/87 |
0.59576 (±0.00000) Rank: 5/87 |
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/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09758 over 9 scenes)
Rank (per category): 8 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 424.05 | 100.00 Rank: 1/87 |
2322.80 Rank: 18/87 |
4.939 Rank: 35/87 |
0.33627 Rank: 5/87 |
0.59966 (±0.00000) Rank: 7/87 |
0.73248 (±0.00000) Rank: 14/87 |
FCS | 2048.0 | 551.84 | 98.93 Rank: 4/87 |
2842.58 Rank: 9/87 |
5.115 Rank: 21/87 |
0.22235 Rank: 4/87 |
0.77317 (±0.00000) Rank: 1/87 |
0.83059 (±0.00000) Rank: 1/87 |
LMS | 2048.0 | 545.86 | 99.36 Rank: 28/87 |
2222.07 Rank: 12/87 |
5.441 Rank: 45/87 |
0.27300 Rank: 15/87 |
0.85925 (±0.00000) Rank: 18/87 |
0.90859 (±0.00000) Rank: 19/87 |
LB | 2048.0 | 481.62 | 98.36 Rank: 1/87 |
2295.55 Rank: 6/87 |
5.195 Rank: 42/87 |
0.48105 Rank: 26/87 |
0.72604 (±0.00000) Rank: 13/87 |
0.81833 (±0.00000) Rank: 9/87 |
MC | 2048.0 | 453.14 | 100.00 Rank: 1/87 |
2440.01 Rank: 19/87 |
5.122 Rank: 40/87 |
0.32509 Rank: 8/87 |
0.56936 (±0.00000) Rank: 8/87 |
0.71334 (±0.00000) Rank: 7/87 |
MR | 2048.0 | 416.07 | 95.64 Rank: 8/87 |
2512.69 Rank: 13/87 |
4.718 Rank: 41/87 |
0.49398 Rank: 15/87 |
0.44536 (±0.00000) Rank: 14/87 |
0.56924 (±0.00000) Rank: 13/87 |
PSM | 2048.0 | 421.57 | 99.88 Rank: 1/87 |
2688.95 Rank: 19/87 |
4.562 Rank: 28/87 |
0.37691 Rank: 42/87 |
0.64280 (±0.00000) Rank: 28/87 |
0.72942 (±0.00000) Rank: 29/87 |
SF | 2048.0 | 483.66 | 99.75 Rank: 34/87 |
2912.57 Rank: 18/87 |
4.913 Rank: 40/87 |
0.28125 Rank: 27/87 |
0.77464 (±0.00000) Rank: 33/87 |
0.85541 (±0.00000) Rank: 35/87 |
SPC | 2048.0 | 449.02 | 100.00 Rank: 1/87 |
2500.87 Rank: 16/87 |
5.135 Rank: 38/87 |
0.41010 Rank: 12/87 |
0.76677 (±0.00000) Rank: 7/87 |
0.85593 (±0.00000) Rank: 8/87 |
Avg | 2048.0 | 469.65 | 99.10 Rank: 2/87 |
2526.45 Rank: 9/87 |
5.016 Rank: 36/87 |
0.35556 Rank: 6/87 |
0.68412 (±0.00000) Rank: 6/87 |
0.77926 (±0.00000) Rank: 8/87 |
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/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.75870 (±0.00000 over 1 run(s) / ±0.05498 over 3 scenes)
Rank (per category): 16 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 385.0 | 0.036 Rank: 24/87 |
0.010 Rank: 27/87 |
0.58336 (±0.00000) Rank: 21/87 |
0.71803 (±0.00000) Rank: 23/87 |
Pond | 2048.0 | — | 403.3 | 0.051 Rank: 31/87 |
0.046 Rank: 46/87 |
0.59479 (±0.00000) Rank: 12/87 |
0.72164 (±0.00000) Rank: 19/87 |
Tree | 2048.0 | — | 270.6 | 0.031 Rank: 30/87 |
0.024 Rank: 27/87 |
0.72671 (±0.00000) Rank: 17/87 |
0.83642 (±0.00000) Rank: 11/87 |
Avg | 2048.0 | — | 353.0 | 0.039 Rank: 27/87 |
0.027 Rank: 41/87 |
0.63495 (±0.00000) Rank: 16/87 |
0.75870 (±0.00000) Rank: 16/87 |
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/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13742 over 3 scenes)
Rank (per category): 31 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 408.58 | 85.70 Rank: 2/87 |
1249.05 Rank: 18/87 |
3.408 Rank: 21/87 |
14.51684 Rank: 58/87 |
0.57424 (±0.00000) Rank: 40/87 |
0.66117 (±0.00000) Rank: 38/87 |
Pond | 2048.0 | 438.71 | 67.07 Rank: 53/87 |
974.62 Rank: 25/87 |
2.839 Rank: 48/87 |
0.42571 Rank: 35/87 |
0.29042 (±0.00000) Rank: 21/87 |
0.32569 (±0.00000) Rank: 13/87 |
Tree | 2048.0 | 259.26 | 71.37 Rank: 32/87 |
606.94 Rank: 13/87 |
3.048 Rank: 16/87 |
6.04837 Rank: 36/87 |
0.43224 (±0.00000) Rank: 33/87 |
0.46942 (±0.00000) Rank: 33/87 |
Avg | 2048.0 | 368.85 | 74.71 Rank: 40/87 |
943.54 Rank: 21/87 |
3.098 Rank: 26/87 |
6.99697 Rank: 60/87 |
0.43230 (±0.00000) Rank: 36/87 |
0.48543 (±0.00000) Rank: 31/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40530 (±0.00000 over 1 run(s) / ±0.13648 over 17 scenes)
Rank (per category): 14 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 312.3 | 0.22768 (±0.00000) Rank: 29/87 |
0.37679 (±0.00000) Rank: 29/87 |
Bangkok (BGK) | 2045.4 | — | 426.5 | 0.05558 (±0.00000) Rank: 33/87 |
0.16923 (±0.00000) Rank: 27/87 |
Barcelona (BCN) | 2048.0 | — | 310.2 | 0.12747 (±0.00000) Rank: 13/87 |
0.21026 (±0.00000) Rank: 20/87 |
Buenos Aires (BAR) | 2048.0 | — | 294.6 | 0.23836 (±0.00000) Rank: 29/87 |
0.39543 (±0.00000) Rank: 7/87 |
Cambridge (CAM) | 2048.0 | — | 295.2 | 0.30274 (±0.00000) Rank: 29/87 |
0.46541 (±0.00000) Rank: 15/87 |
Cannes (CAN) | 2048.0 | — | 382.7 | 0.39078 (±0.00000) Rank: 29/87 |
0.51152 (±0.00000) Rank: 28/87 |
Chicago (CHI) | 2048.0 | — | 248.8 | 0.19454 (±0.00000) Rank: 28/87 |
0.32036 (±0.00000) Rank: 29/87 |
Helsinki (HEL) | 2048.0 | — | 551.8 | 0.39485 (±0.00000) Rank: 7/87 |
0.58969 (±0.00000) Rank: 7/87 |
Madrid (MAD) | 2048.0 | — | 211.1 | 0.09058 (±0.00000) Rank: 18/87 |
0.21246 (±0.00000) Rank: 10/87 |
Mountain View (MTV) | 2048.0 | — | 290.0 | 0.24297 (±0.00000) Rank: 15/87 |
0.38359 (±0.00000) Rank: 19/87 |
New Orleans (NOR) | 2048.0 | — | 353.6 | 0.29112 (±0.00000) Rank: 5/87 |
0.40030 (±0.00000) Rank: 8/87 |
San Francisco (SF) | 2048.0 | — | 364.9 | 0.20787 (±0.00000) Rank: 13/87 |
0.35748 (±0.00000) Rank: 19/87 |
Singapore (SG) | 2048.0 | — | 274.2 | 0.34494 (±0.00000) Rank: 14/87 |
0.47057 (±0.00000) Rank: 10/87 |
Sydney (SYD) | 2048.0 | — | 327.3 | 0.36769 (±0.00000) Rank: 1/87 |
0.52009 (±0.00000) Rank: 2/87 |
Tokyo (TOK) | 2048.0 | — | 391.3 | 0.60196 (±0.00000) Rank: 20/87 |
0.73260 (±0.00000) Rank: 32/87 |
Toronto (TOR) | 2048.0 | — | 233.2 | 0.24560 (±0.00000) Rank: 1/87 |
0.40560 (±0.00000) Rank: 1/87 |
Zurich (ZRH) | 2048.0 | — | 405.4 | 0.26942 (±0.00000) Rank: 20/87 |
0.36873 (±0.00000) Rank: 20/87 |
Average (Avg) | 2047.8 | — | 333.7 | 0.27024 (±0.00000) Rank: 10/87 |
0.40530 (±0.00000) Rank: 14/87 |
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/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15327 over 17 scenes)
Rank (per category): 1 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 244.95 | 94.13 Rank: 2/87 |
1515.57 Rank: 5/87 |
3.764 Rank: 30/87 |
25.45609 Rank: 33/87 |
0.35841 (±0.00000) Rank: 18/87 |
0.48416 (±0.00000) Rank: 17/87 |
BGK | 2045.4 | 297.06 | 96.93 Rank: 18/87 |
2711.36 Rank: 8/87 |
3.602 Rank: 42/87 |
13.60008 Rank: 30/87 |
0.03133 (±0.00000) Rank: 10/87 |
0.09564 (±0.00000) Rank: 12/87 |
BCN | 2048.0 | 185.73 | 84.90 Rank: 25/87 |
1319.19 Rank: 15/87 |
3.850 Rank: 5/87 |
29.05346 Rank: 42/87 |
0.14032 (±0.00000) Rank: 19/87 |
0.22794 (±0.00000) Rank: 14/87 |
BAR | 2048.0 | 173.55 | 88.34 Rank: 8/87 |
1284.08 Rank: 14/87 |
3.489 Rank: 4/87 |
16.25150 Rank: 28/87 |
0.17835 (±0.00000) Rank: 5/87 |
0.29014 (±0.00000) Rank: 6/87 |
CAM | 2048.0 | 187.09 | 88.40 Rank: 20/87 |
1394.83 Rank: 9/87 |
3.426 Rank: 36/87 |
28.51066 Rank: 42/87 |
0.17935 (±0.00000) Rank: 23/87 |
0.27142 (±0.00000) Rank: 20/87 |
CAN | 2048.0 | 285.61 | 82.76 Rank: 4/87 |
948.62 Rank: 13/87 |
3.537 Rank: 21/87 |
21.41535 Rank: 36/87 |
0.08194 (±0.00000) Rank: 15/87 |
0.14427 (±0.00000) Rank: 16/87 |
CHI | 2048.0 | 230.22 | 91.50 Rank: 6/87 |
777.39 Rank: 1/87 |
4.879 Rank: 13/87 |
47.80059 Rank: 33/87 |
0.20032 (±0.00000) Rank: 1/87 |
0.30796 (±0.00000) Rank: 1/87 |
HEL | 2048.0 | 462.42 | 94.93 Rank: 9/87 |
2506.03 Rank: 2/87 |
3.986 Rank: 32/87 |
15.03406 Rank: 34/87 |
0.36960 (±0.00000) Rank: 8/87 |
0.50280 (±0.00000) Rank: 6/87 |
MAD | 2048.0 | 136.39 | 90.80 Rank: 18/87 |
1501.34 Rank: 14/87 |
3.279 Rank: 27/87 |
6.98586 Rank: 39/87 |
0.11537 (±0.00000) Rank: 1/87 |
0.23214 (±0.00000) Rank: 1/87 |
MTV | 2048.0 | 252.23 | 95.03 Rank: 1/87 |
1645.17 Rank: 2/87 |
3.825 Rank: 20/87 |
18.05916 Rank: 52/87 |
0.30121 (±0.00000) Rank: 7/87 |
0.43985 (±0.00000) Rank: 7/87 |
NOR | 2048.0 | 288.09 | 91.40 Rank: 5/87 |
1399.27 Rank: 3/87 |
3.301 Rank: 33/87 |
14.80199 Rank: 51/87 |
0.29119 (±0.00000) Rank: 10/87 |
0.40627 (±0.00000) Rank: 7/87 |
SF | 2048.0 | 306.63 | 96.93 Rank: 4/87 |
1791.92 Rank: 10/87 |
3.732 Rank: 23/87 |
20.58083 Rank: 33/87 |
0.28476 (±0.00000) Rank: 22/87 |
0.42736 (±0.00000) Rank: 23/87 |
SG | 2048.0 | 170.80 | 77.75 Rank: 23/87 |
1212.57 Rank: 10/87 |
3.405 Rank: 14/87 |
18.61620 Rank: 37/87 |
0.25283 (±0.00000) Rank: 9/87 |
0.31816 (±0.00000) Rank: 13/87 |
SYD | 2048.0 | 203.43 | 91.44 Rank: 8/87 |
1759.41 Rank: 4/87 |
3.615 Rank: 14/87 |
24.73896 Rank: 51/87 |
0.38304 (±0.00000) Rank: 1/87 |
0.48394 (±0.00000) Rank: 1/87 |
TOK | 2048.0 | 285.64 | 94.53 Rank: 1/87 |
2240.29 Rank: 3/87 |
3.720 Rank: 27/87 |
16.55552 Rank: 51/87 |
0.67073 (±0.00000) Rank: 16/87 |
0.74165 (±0.00000) Rank: 22/87 |
TOR | 2048.0 | 147.01 | 89.47 Rank: 11/87 |
1484.59 Rank: 11/87 |
3.275 Rank: 7/87 |
19.17499 Rank: 50/87 |
0.20679 (±0.00000) Rank: 12/87 |
0.33903 (±0.00000) Rank: 13/87 |
ZRH | 2048.0 | 314.67 | 91.68 Rank: 5/87 |
1887.21 Rank: 7/87 |
3.452 Rank: 24/87 |
19.24012 Rank: 28/87 |
0.14051 (±0.00000) Rank: 6/87 |
0.20493 (±0.00000) Rank: 13/87 |
Avg | 2047.8 | 245.38 | 90.64 Rank: 3/87 |
1610.52 Rank: 3/87 |
3.655 Rank: 23/87 |
20.93385 Rank: 52/87 |
0.24624 (±0.00000) Rank: 1/87 |
0.34810 (±0.00000) Rank: 1/87 |
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/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/53abde66fb3c60e9-ssma2stg/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)