Submission ID: 5a6d353f
Estelle-2K
Processed: 21-06-11. Download link: 5a6d353f0f5d1dd9-estelle-2k.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: Estelle (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 2048
- Summary: Estelle-2K
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.29313 (±0.00000 over 1 run(s) / ±0.10255 over 9 scenes)
Rank (per category): 79 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 522.1 | 0.605 Rank: 6/87 |
0.954 Rank: 4/87 |
0.08366 (±0.00000) Rank: 78/87 |
0.16591 (±0.00000) Rank: 78/87 |
FCS | 2048.0 | — | 281.9 | 0.407 Rank: 34/87 |
0.783 Rank: 74/87 |
0.23165 (±0.00000) Rank: 84/87 |
0.32210 (±0.00000) Rank: 84/87 |
LMS | 2048.0 | — | 234.9 | 0.380 Rank: 60/87 |
0.648 Rank: 70/87 |
0.26689 (±0.00000) Rank: 82/87 |
0.34900 (±0.00000) Rank: 83/87 |
LB | 2045.5 | — | 329.0 | 0.448 Rank: 11/87 |
0.738 Rank: 15/87 |
0.25667 (±0.00000) Rank: 78/87 |
0.34977 (±0.00000) Rank: 74/87 |
MC | 2048.0 | — | 469.4 | 0.543 Rank: 3/87 |
0.912 Rank: 23/87 |
0.22439 (±0.00000) Rank: 78/87 |
0.35281 (±0.00000) Rank: 68/87 |
MR | 2048.0 | — | 298.6 | 0.435 Rank: 18/87 |
0.799 Rank: 77/87 |
0.18329 (±0.00000) Rank: 73/87 |
0.25590 (±0.00000) Rank: 76/87 |
PSM | 2048.0 | — | 163.3 | 0.370 Rank: 13/87 |
0.538 Rank: 57/87 |
0.04220 (±0.00000) Rank: 82/87 |
0.08174 (±0.00000) Rank: 83/87 |
SF | 2046.8 | — | 256.1 | 0.372 Rank: 41/87 |
0.705 Rank: 75/87 |
0.23398 (±0.00000) Rank: 79/87 |
0.32393 (±0.00000) Rank: 80/87 |
SPC | 2041.0 | — | 421.6 | 0.467 Rank: 6/87 |
0.838 Rank: 15/87 |
0.29395 (±0.00000) Rank: 69/87 |
0.43706 (±0.00000) Rank: 69/87 |
Avg | 2046.8 | — | 330.8 | 0.448 Rank: 9/87 |
0.768 Rank: 64/87 |
0.20185 (±0.00000) Rank: 78/87 |
0.29313 (±0.00000) Rank: 79/87 |
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/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11163 over 9 scenes)
Rank (per category): 67 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 522.80 | 99.73 Rank: 56/87 |
1725.23 Rank: 49/87 |
7.177 Rank: 3/87 |
0.59373 Rank: 63/87 |
0.37168 (±0.00000) Rank: 64/87 |
0.53746 (±0.00000) Rank: 64/87 |
FCS | 2048.0 | 298.08 | 94.95 Rank: 73/87 |
1956.88 Rank: 58/87 |
5.154 Rank: 13/87 |
0.27557 Rank: 62/87 |
0.65629 (±0.00000) Rank: 69/87 |
0.72846 (±0.00000) Rank: 70/87 |
LMS | 2048.0 | 257.18 | 97.18 Rank: 75/87 |
1305.09 Rank: 67/87 |
5.756 Rank: 27/87 |
0.35283 Rank: 74/87 |
0.66163 (±0.00000) Rank: 77/87 |
0.74174 (±0.00000) Rank: 77/87 |
LB | 2045.5 | 400.84 | 96.28 Rank: 70/87 |
1504.48 Rank: 52/87 |
6.331 Rank: 1/87 |
0.47239 Rank: 15/87 |
0.62403 (±0.00000) Rank: 62/87 |
0.72471 (±0.00000) Rank: 63/87 |
MC | 2048.0 | 459.02 | 98.41 Rank: 68/87 |
2015.99 Rank: 44/87 |
6.418 Rank: 2/87 |
0.40785 Rank: 58/87 |
0.47197 (±0.00000) Rank: 63/87 |
0.62236 (±0.00000) Rank: 62/87 |
MR | 2048.0 | 299.09 | 90.41 Rank: 70/87 |
2064.39 Rank: 42/87 |
4.910 Rank: 22/87 |
0.57103 Rank: 65/87 |
0.37889 (±0.00000) Rank: 53/87 |
0.48265 (±0.00000) Rank: 60/87 |
PSM | 2048.0 | 161.66 | 86.88 Rank: 67/87 |
1881.19 Rank: 57/87 |
4.182 Rank: 49/87 |
0.62149 Rank: 65/87 |
0.40387 (±0.00000) Rank: 61/87 |
0.47214 (±0.00000) Rank: 63/87 |
SF | 2046.8 | 250.33 | 92.75 Rank: 76/87 |
1962.18 Rank: 59/87 |
4.942 Rank: 31/87 |
0.35642 Rank: 73/87 |
0.59777 (±0.00000) Rank: 76/87 |
0.68896 (±0.00000) Rank: 76/87 |
SPC | 2041.0 | 438.39 | 98.35 Rank: 65/87 |
2058.08 Rank: 48/87 |
6.000 Rank: 3/87 |
0.43620 Rank: 29/87 |
0.68190 (±0.00000) Rank: 57/87 |
0.78387 (±0.00000) Rank: 61/87 |
Avg | 2046.8 | 343.04 | 94.99 Rank: 69/87 |
1830.39 Rank: 52/87 |
5.652 Rank: 3/87 |
0.45417 Rank: 64/87 |
0.53867 (±0.00000) Rank: 67/87 |
0.64248 (±0.00000) Rank: 67/87 |
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/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.21261 (±0.00000 over 1 run(s) / ±0.01401 over 3 scenes)
Rank (per category): 72 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 109.8 | 0.045 Rank: 7/87 |
0.004 Rank: 71/87 |
0.13592 (±0.00000) Rank: 73/87 |
0.19681 (±0.00000) Rank: 73/87 |
Pond | 2048.0 | — | 123.9 | 0.075 Rank: 6/87 |
0.057 Rank: 6/87 |
0.16072 (±0.00000) Rank: 72/87 |
0.23086 (±0.00000) Rank: 72/87 |
Tree | 2048.0 | — | 61.7 | 0.049 Rank: 4/87 |
0.017 Rank: 69/87 |
0.14967 (±0.00000) Rank: 72/87 |
0.21015 (±0.00000) Rank: 72/87 |
Avg | 2048.0 | — | 98.5 | 0.056 Rank: 6/87 |
0.026 Rank: 57/87 |
0.14877 (±0.00000) Rank: 72/87 |
0.21261 (±0.00000) Rank: 72/87 |
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/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11824 over 3 scenes)
Rank (per category): 69 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 143.34 | 77.84 Rank: 67/87 |
474.27 Rank: 67/87 |
3.240 Rank: 59/87 |
12.93227 Rank: 5/87 |
0.34407 (±0.00000) Rank: 68/87 |
0.43856 (±0.00000) Rank: 68/87 |
Pond | 2048.0 | 234.33 | 65.97 Rank: 66/87 |
719.64 Rank: 62/87 |
3.020 Rank: 16/87 |
0.39670 Rank: 4/87 |
0.19169 (±0.00000) Rank: 67/87 |
0.23483 (±0.00000) Rank: 67/87 |
Tree | 2048.0 | 86.93 | 61.97 Rank: 68/87 |
243.72 Rank: 68/87 |
2.933 Rank: 53/87 |
4.60344 Rank: 2/87 |
0.13829 (±0.00000) Rank: 69/87 |
0.15842 (±0.00000) Rank: 69/87 |
Avg | 2048.0 | 154.87 | 68.59 Rank: 68/87 |
479.21 Rank: 66/87 |
3.064 Rank: 41/87 |
5.97747 Rank: 4/87 |
0.22468 (±0.00000) Rank: 69/87 |
0.27727 (±0.00000) Rank: 69/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.11209 (±0.00000 over 1 run(s) / ±0.06059 over 17 scenes)
Rank (per category): 52 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 148.6 | 0.07143 (±0.00000) Rank: 51/87 |
0.14196 (±0.00000) Rank: 51/87 |
Bangkok (BGK) | 2048.0 | — | 168.9 | 0.01439 (±0.00000) Rank: 52/87 |
0.06303 (±0.00000) Rank: 51/87 |
Barcelona (BCN) | 2048.0 | — | 85.0 | 0.02418 (±0.00000) Rank: 52/87 |
0.04908 (±0.00000) Rank: 52/87 |
Buenos Aires (BAR) | 2048.0 | — | 110.4 | 0.06393 (±0.00000) Rank: 51/87 |
0.12466 (±0.00000) Rank: 51/87 |
Cambridge (CAM) | 2045.0 | — | 98.2 | 0.06370 (±0.00000) Rank: 51/87 |
0.12158 (±0.00000) Rank: 52/87 |
Cannes (CAN) | 2048.0 | — | 137.0 | 0.12535 (±0.00000) Rank: 52/87 |
0.21106 (±0.00000) Rank: 52/87 |
Chicago (CHI) | 2042.9 | — | 24.7 | 0.01967 (±0.00000) Rank: 51/87 |
0.04993 (±0.00000) Rank: 51/87 |
Helsinki (HEL) | 2048.0 | — | 212.7 | 0.13763 (±0.00000) Rank: 49/87 |
0.25567 (±0.00000) Rank: 49/87 |
Madrid (MAD) | 2048.0 | — | 56.3 | 0.00729 (±0.00000) Rank: 52/87 |
0.03009 (±0.00000) Rank: 51/87 |
Mountain View (MTV) | 2048.0 | — | 74.0 | 0.04141 (±0.00000) Rank: 51/87 |
0.08027 (±0.00000) Rank: 51/87 |
New Orleans (NOR) | 2048.0 | — | 61.2 | 0.07160 (±0.00000) Rank: 51/87 |
0.10621 (±0.00000) Rank: 52/87 |
San Francisco (SF) | 2048.0 | — | 106.1 | 0.02625 (±0.00000) Rank: 52/87 |
0.06562 (±0.00000) Rank: 52/87 |
Singapore (SG) | 2042.4 | — | 103.8 | 0.06772 (±0.00000) Rank: 51/87 |
0.11171 (±0.00000) Rank: 51/87 |
Sydney (SYD) | 2048.0 | — | 79.7 | 0.04803 (±0.00000) Rank: 51/87 |
0.09258 (±0.00000) Rank: 52/87 |
Tokyo (TOK) | 2048.0 | — | 97.6 | 0.11765 (±0.00000) Rank: 52/87 |
0.19804 (±0.00000) Rank: 52/87 |
Toronto (TOR) | 2048.0 | — | 36.5 | 0.03600 (±0.00000) Rank: 51/87 |
0.06520 (±0.00000) Rank: 51/87 |
Zurich (ZRH) | 2048.0 | — | 115.0 | 0.09141 (±0.00000) Rank: 51/87 |
0.13883 (±0.00000) Rank: 52/87 |
Average (Avg) | 2047.2 | — | 100.9 | 0.06045 (±0.00000) Rank: 52/87 |
0.11209 (±0.00000) Rank: 52/87 |
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/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.06264 over 17 scenes)
Rank (per category): 51 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 83.10 | 60.22 Rank: 51/87 |
569.97 Rank: 48/87 |
3.405 Rank: 47/87 |
13.63673 Rank: 2/87 |
0.09285 (±0.00000) Rank: 51/87 |
0.13448 (±0.00000) Rank: 51/87 |
BGK | 2048.0 | 105.12 | 86.88 Rank: 50/87 |
1066.26 Rank: 49/87 |
3.930 Rank: 2/87 |
8.16470 Rank: 2/87 |
0.00644 (±0.00000) Rank: 51/87 |
0.02742 (±0.00000) Rank: 51/87 |
BCN | 2048.0 | 45.14 | 59.34 Rank: 51/87 |
446.34 Rank: 49/87 |
3.142 Rank: 51/87 |
17.71361 Rank: 1/87 |
0.03877 (±0.00000) Rank: 52/87 |
0.07352 (±0.00000) Rank: 52/87 |
BAR | 2048.0 | 56.39 | 46.70 Rank: 51/87 |
322.23 Rank: 50/87 |
2.724 Rank: 51/87 |
5.11882 Rank: 1/87 |
0.00230 (±0.00000) Rank: 52/87 |
0.01044 (±0.00000) Rank: 51/87 |
CAM | 2045.0 | 52.74 | 56.77 Rank: 51/87 |
431.05 Rank: 50/87 |
3.281 Rank: 44/87 |
10.49998 Rank: 2/87 |
0.02648 (±0.00000) Rank: 51/87 |
0.04468 (±0.00000) Rank: 51/87 |
CAN | 2048.0 | 67.25 | 55.44 Rank: 47/87 |
451.70 Rank: 38/87 |
3.211 Rank: 42/87 |
9.25697 Rank: 4/87 |
0.00874 (±0.00000) Rank: 51/87 |
0.02998 (±0.00000) Rank: 51/87 |
CHI | 2042.9 | 18.59 | 45.61 Rank: 50/87 |
149.99 Rank: 50/87 |
3.130 Rank: 50/87 |
34.10368 Rank: 2/87 |
0.00107 (±0.00000) Rank: 51/87 |
0.00473 (±0.00000) Rank: 52/87 |
HEL | 2048.0 | 146.59 | 73.02 Rank: 52/87 |
1097.47 Rank: 50/87 |
3.609 Rank: 48/87 |
10.88580 Rank: 6/87 |
0.12035 (±0.00000) Rank: 49/87 |
0.18346 (±0.00000) Rank: 49/87 |
MAD | 2048.0 | 31.10 | 58.68 Rank: 51/87 |
331.51 Rank: 51/87 |
3.294 Rank: 20/87 |
3.05288 Rank: 3/87 |
0.00555 (±0.00000) Rank: 51/87 |
0.01692 (±0.00000) Rank: 51/87 |
MTV | 2048.0 | 51.48 | 69.12 Rank: 49/87 |
576.76 Rank: 47/87 |
3.570 Rank: 46/87 |
10.41085 Rank: 4/87 |
0.05757 (±0.00000) Rank: 50/87 |
0.11653 (±0.00000) Rank: 49/87 |
NOR | 2048.0 | 38.24 | 40.22 Rank: 51/87 |
243.41 Rank: 49/87 |
2.743 Rank: 51/87 |
5.22540 Rank: 2/87 |
0.01420 (±0.00000) Rank: 51/87 |
0.02427 (±0.00000) Rank: 51/87 |
SF | 2048.0 | 60.88 | 49.42 Rank: 51/87 |
296.28 Rank: 51/87 |
3.059 Rank: 50/87 |
5.57780 Rank: 2/87 |
0.01733 (±0.00000) Rank: 51/87 |
0.03407 (±0.00000) Rank: 51/87 |
SG | 2042.4 | 59.68 | 46.21 Rank: 51/87 |
378.64 Rank: 50/87 |
2.986 Rank: 51/87 |
6.27010 Rank: 2/87 |
0.01133 (±0.00000) Rank: 52/87 |
0.02343 (±0.00000) Rank: 52/87 |
SYD | 2048.0 | 40.44 | 52.33 Rank: 52/87 |
248.44 Rank: 51/87 |
2.883 Rank: 51/87 |
6.60989 Rank: 3/87 |
0.04290 (±0.00000) Rank: 50/87 |
0.06798 (±0.00000) Rank: 50/87 |
TOK | 2048.0 | 56.11 | 60.74 Rank: 52/87 |
554.27 Rank: 51/87 |
3.427 Rank: 48/87 |
5.80914 Rank: 2/87 |
0.17046 (±0.00000) Rank: 52/87 |
0.21661 (±0.00000) Rank: 52/87 |
TOR | 2048.0 | 18.71 | 45.13 Rank: 51/87 |
204.31 Rank: 51/87 |
2.796 Rank: 51/87 |
7.93146 Rank: 5/87 |
0.00373 (±0.00000) Rank: 52/87 |
0.01042 (±0.00000) Rank: 52/87 |
ZRH | 2048.0 | 60.34 | 49.99 Rank: 52/87 |
441.23 Rank: 50/87 |
3.116 Rank: 47/87 |
8.27218 Rank: 2/87 |
0.00219 (±0.00000) Rank: 52/87 |
0.00855 (±0.00000) Rank: 52/87 |
Avg | 2047.2 | 58.35 | 56.23 Rank: 51/87 |
459.40 Rank: 51/87 |
3.194 Rank: 49/87 |
9.91412 Rank: 2/87 |
0.03660 (±0.00000) Rank: 51/87 |
0.06044 (±0.00000) Rank: 51/87 |
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/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5a6d353f0f5d1dd9-estelle-2k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)