Submission ID: 5af4c9b2
HarrisZ improved, Blob DTM
Processed: 21-06-15. Download link: 5af4c9b258d9fb50-harrisz-2k-blobdtm.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: Fabio Bellavia and Dmytro Mishkin (contact)
- Keypoint: hzbnn22l05m2k2l
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 2048
- Summary: Baseline submission for HarrisZ detector evaluation with Blob DTM matcher (descriptor: AffNet+HardNet8, RANSAC: DEGENSAC)
- Paper: https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2009.0127
- Website: N/A
- Processing date: 21-06-15
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.44492 (±0.00000 over 1 run(s) / ±0.15117 over 9 scenes)
Rank (per category): 58 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 248.9 | 0.470 Rank: 32/87 |
0.873 Rank: 63/87 |
0.16176 (±0.00000) Rank: 62/87 |
0.25660 (±0.00000) Rank: 62/87 |
FCS | 2048.0 | — | 230.9 | 0.348 Rank: 79/87 |
0.879 Rank: 13/87 |
0.53777 (±0.00000) Rank: 53/87 |
0.66312 (±0.00000) Rank: 53/87 |
LMS | 2025.2 | — | 231.9 | 0.329 Rank: 83/87 |
0.662 Rank: 64/87 |
0.49994 (±0.00000) Rank: 54/87 |
0.63115 (±0.00000) Rank: 53/87 |
LB | 2046.5 | — | 192.2 | 0.336 Rank: 76/87 |
0.712 Rank: 23/87 |
0.37172 (±0.00000) Rank: 62/87 |
0.48147 (±0.00000) Rank: 59/87 |
MC | 2047.5 | — | 227.2 | 0.401 Rank: 56/87 |
0.899 Rank: 28/87 |
0.28896 (±0.00000) Rank: 62/87 |
0.42716 (±0.00000) Rank: 55/87 |
MR | 2048.0 | — | 230.1 | 0.355 Rank: 81/87 |
0.903 Rank: 26/87 |
0.21575 (±0.00000) Rank: 57/87 |
0.31118 (±0.00000) Rank: 58/87 |
PSM | 2048.0 | — | 149.1 | 0.289 Rank: 76/87 |
0.505 Rank: 66/87 |
0.11139 (±0.00000) Rank: 61/87 |
0.20650 (±0.00000) Rank: 61/87 |
SF | 2048.0 | — | 220.8 | 0.320 Rank: 82/87 |
0.827 Rank: 12/87 |
0.41304 (±0.00000) Rank: 55/87 |
0.54611 (±0.00000) Rank: 56/87 |
SPC | 2043.3 | — | 184.7 | 0.344 Rank: 72/87 |
0.806 Rank: 26/87 |
0.33654 (±0.00000) Rank: 60/87 |
0.48098 (±0.00000) Rank: 64/87 |
Avg | 2044.7 | — | 212.9 | 0.355 Rank: 75/87 |
0.785 Rank: 41/87 |
0.32632 (±0.00000) Rank: 58/87 |
0.44492 (±0.00000) Rank: 58/87 |
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/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13342 over 9 scenes)
Rank (per category): 55 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 248.09 | 99.48 Rank: 69/87 |
1065.90 Rank: 68/87 |
4.858 Rank: 53/87 |
0.52128 Rank: 58/87 |
0.43657 (±0.00000) Rank: 59/87 |
0.58068 (±0.00000) Rank: 59/87 |
FCS | 2048.0 | 240.14 | 98.13 Rank: 29/87 |
1577.80 Rank: 71/87 |
4.575 Rank: 60/87 |
0.24570 Rank: 32/87 |
0.73304 (±0.00000) Rank: 37/87 |
0.79583 (±0.00000) Rank: 36/87 |
LMS | 2025.2 | 250.07 | 98.61 Rank: 67/87 |
1154.35 Rank: 70/87 |
4.962 Rank: 69/87 |
0.38552 Rank: 77/87 |
0.81044 (±0.00000) Rank: 55/87 |
0.86621 (±0.00000) Rank: 56/87 |
LB | 2046.5 | 232.45 | 97.45 Rank: 64/87 |
1003.98 Rank: 72/87 |
4.766 Rank: 63/87 |
0.47259 Rank: 16/87 |
0.68497 (±0.00000) Rank: 49/87 |
0.77886 (±0.00000) Rank: 47/87 |
MC | 2047.5 | 222.66 | 99.66 Rank: 58/87 |
1214.35 Rank: 66/87 |
4.763 Rank: 58/87 |
0.37837 Rank: 49/87 |
0.53495 (±0.00000) Rank: 40/87 |
0.68057 (±0.00000) Rank: 42/87 |
MR | 2048.0 | 229.68 | 90.69 Rank: 69/87 |
1307.04 Rank: 65/87 |
4.173 Rank: 72/87 |
0.53094 Rank: 43/87 |
0.39271 (±0.00000) Rank: 44/87 |
0.50393 (±0.00000) Rank: 49/87 |
PSM | 2048.0 | 146.96 | 91.13 Rank: 65/87 |
1695.96 Rank: 67/87 |
3.261 Rank: 66/87 |
0.55117 Rank: 56/87 |
0.41447 (±0.00000) Rank: 60/87 |
0.50563 (±0.00000) Rank: 60/87 |
SF | 2048.0 | 217.63 | 98.39 Rank: 50/87 |
1565.37 Rank: 73/87 |
4.417 Rank: 73/87 |
0.31036 Rank: 55/87 |
0.72775 (±0.00000) Rank: 51/87 |
0.81392 (±0.00000) Rank: 51/87 |
SPC | 2043.3 | 190.54 | 99.46 Rank: 55/87 |
1218.47 Rank: 71/87 |
4.529 Rank: 64/87 |
0.42721 Rank: 20/87 |
0.71372 (±0.00000) Rank: 44/87 |
0.81649 (±0.00000) Rank: 46/87 |
Avg | 2044.7 | 219.80 | 97.00 Rank: 63/87 |
1311.47 Rank: 69/87 |
4.478 Rank: 66/87 |
0.42479 Rank: 54/87 |
0.60540 (±0.00000) Rank: 53/87 |
0.70468 (±0.00000) Rank: 55/87 |
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/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.61764 (±0.00000 over 1 run(s) / ±0.05509 over 3 scenes)
Rank (per category): 43 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 297.8 | 0.024 Rank: 68/87 |
0.009 Rank: 45/87 |
0.45908 (±0.00000) Rank: 44/87 |
0.59029 (±0.00000) Rank: 44/87 |
Pond | 2048.0 | — | 293.3 | 0.047 Rank: 58/87 |
0.048 Rank: 36/87 |
0.44770 (±0.00000) Rank: 43/87 |
0.56814 (±0.00000) Rank: 47/87 |
Tree | 2048.0 | — | 204.7 | 0.029 Rank: 53/87 |
0.022 Rank: 45/87 |
0.59470 (±0.00000) Rank: 43/87 |
0.69448 (±0.00000) Rank: 43/87 |
Avg | 2048.0 | — | 265.3 | 0.034 Rank: 68/87 |
0.026 Rank: 54/87 |
0.50049 (±0.00000) Rank: 43/87 |
0.61764 (±0.00000) Rank: 43/87 |
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/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14807 over 3 scenes)
Rank (per category): 49 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 351.90 | 85.30 Rank: 19/87 |
751.74 Rank: 51/87 |
3.387 Rank: 32/87 |
14.17298 Rank: 34/87 |
0.55740 (±0.00000) Rank: 46/87 |
0.64986 (±0.00000) Rank: 42/87 |
Pond | 2048.0 | 440.34 | 71.70 Rank: 4/87 |
750.70 Rank: 56/87 |
3.040 Rank: 15/87 |
0.43717 Rank: 51/87 |
0.26331 (±0.00000) Rank: 49/87 |
0.28927 (±0.00000) Rank: 52/87 |
Tree | 2048.0 | 231.44 | 70.17 Rank: 50/87 |
386.61 Rank: 62/87 |
2.949 Rank: 48/87 |
6.05405 Rank: 37/87 |
0.39411 (±0.00000) Rank: 54/87 |
0.43581 (±0.00000) Rank: 53/87 |
Avg | 2048.0 | 341.23 | 75.72 Rank: 11/87 |
629.68 Rank: 57/87 |
3.125 Rank: 22/87 |
6.88806 Rank: 35/87 |
0.40494 (±0.00000) Rank: 49/87 |
0.45831 (±0.00000) Rank: 49/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.29814 (±0.00000 over 1 run(s) / ±0.12041 over 17 scenes)
Rank (per category): 43 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 163.9 | 0.15714 (±0.00000) Rank: 43/87 |
0.27857 (±0.00000) Rank: 41/87 |
Bangkok (BGK) | 2026.9 | — | 212.9 | 0.05658 (±0.00000) Rank: 30/87 |
0.15682 (±0.00000) Rank: 35/87 |
Barcelona (BCN) | 2048.0 | — | 120.2 | 0.10403 (±0.00000) Rank: 35/87 |
0.16777 (±0.00000) Rank: 40/87 |
Buenos Aires (BAR) | 2048.0 | — | 167.9 | 0.15616 (±0.00000) Rank: 43/87 |
0.25799 (±0.00000) Rank: 46/87 |
Cambridge (CAM) | 2044.9 | — | 171.5 | 0.23219 (±0.00000) Rank: 43/87 |
0.34384 (±0.00000) Rank: 44/87 |
Cannes (CAN) | 2048.0 | — | 200.5 | 0.33548 (±0.00000) Rank: 41/87 |
0.42350 (±0.00000) Rank: 42/87 |
Chicago (CHI) | 2042.0 | — | 101.7 | 0.12199 (±0.00000) Rank: 38/87 |
0.19727 (±0.00000) Rank: 40/87 |
Helsinki (HEL) | 2043.3 | — | 311.3 | 0.35052 (±0.00000) Rank: 31/87 |
0.55361 (±0.00000) Rank: 32/87 |
Madrid (MAD) | 2046.3 | — | 108.8 | 0.05775 (±0.00000) Rank: 42/87 |
0.14438 (±0.00000) Rank: 42/87 |
Mountain View (MTV) | 2047.9 | — | 110.3 | 0.14297 (±0.00000) Rank: 43/87 |
0.23711 (±0.00000) Rank: 43/87 |
New Orleans (NOR) | 2038.9 | — | 133.4 | 0.22012 (±0.00000) Rank: 37/87 |
0.29320 (±0.00000) Rank: 40/87 |
San Francisco (SF) | 2041.1 | — | 184.1 | 0.15801 (±0.00000) Rank: 40/87 |
0.28635 (±0.00000) Rank: 39/87 |
Singapore (SG) | 2033.1 | — | 198.1 | 0.21139 (±0.00000) Rank: 42/87 |
0.30095 (±0.00000) Rank: 43/87 |
Sydney (SYD) | 2019.0 | — | 182.0 | 0.20524 (±0.00000) Rank: 45/87 |
0.30568 (±0.00000) Rank: 45/87 |
Tokyo (TOK) | 2039.4 | — | 233.4 | 0.44706 (±0.00000) Rank: 43/87 |
0.58554 (±0.00000) Rank: 43/87 |
Toronto (TOR) | 2041.5 | — | 90.5 | 0.13040 (±0.00000) Rank: 43/87 |
0.23440 (±0.00000) Rank: 45/87 |
Zurich (ZRH) | 2043.6 | — | 184.4 | 0.22818 (±0.00000) Rank: 37/87 |
0.30137 (±0.00000) Rank: 43/87 |
Average (Avg) | 2041.2 | — | 169.1 | 0.19501 (±0.00000) Rank: 42/87 |
0.29814 (±0.00000) Rank: 43/87 |
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/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12614 over 17 scenes)
Rank (per category): 45 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 103.65 | 63.25 Rank: 50/87 |
525.62 Rank: 49/87 |
3.036 Rank: 51/87 |
16.22494 Rank: 4/87 |
0.13632 (±0.00000) Rank: 48/87 |
0.18790 (±0.00000) Rank: 49/87 |
BGK | 2026.9 | 144.08 | 88.29 Rank: 49/87 |
1109.81 Rank: 48/87 |
3.415 Rank: 50/87 |
10.62532 Rank: 4/87 |
0.02420 (±0.00000) Rank: 37/87 |
0.07763 (±0.00000) Rank: 37/87 |
BCN | 2048.0 | 75.78 | 70.31 Rank: 46/87 |
451.59 Rank: 47/87 |
3.197 Rank: 49/87 |
22.34365 Rank: 7/87 |
0.09210 (±0.00000) Rank: 39/87 |
0.14257 (±0.00000) Rank: 40/87 |
BAR | 2048.0 | 96.89 | 60.67 Rank: 47/87 |
377.35 Rank: 47/87 |
2.838 Rank: 49/87 |
10.23222 Rank: 6/87 |
0.05684 (±0.00000) Rank: 47/87 |
0.10046 (±0.00000) Rank: 47/87 |
CAM | 2044.9 | 104.36 | 69.79 Rank: 47/87 |
689.27 Rank: 40/87 |
2.986 Rank: 50/87 |
15.29802 Rank: 6/87 |
0.11042 (±0.00000) Rank: 43/87 |
0.16196 (±0.00000) Rank: 44/87 |
CAN | 2048.0 | 110.59 | 54.27 Rank: 48/87 |
264.02 Rank: 49/87 |
3.116 Rank: 45/87 |
8.10924 Rank: 2/87 |
0.02560 (±0.00000) Rank: 43/87 |
0.04350 (±0.00000) Rank: 47/87 |
CHI | 2042.0 | 89.97 | 72.57 Rank: 44/87 |
236.29 Rank: 46/87 |
3.892 Rank: 43/87 |
45.24161 Rank: 14/87 |
0.05047 (±0.00000) Rank: 38/87 |
0.10194 (±0.00000) Rank: 39/87 |
HEL | 2043.3 | 223.17 | 91.41 Rank: 43/87 |
1354.16 Rank: 46/87 |
3.536 Rank: 50/87 |
12.63634 Rank: 11/87 |
0.27857 (±0.00000) Rank: 40/87 |
0.42265 (±0.00000) Rank: 36/87 |
MAD | 2046.3 | 72.75 | 73.63 Rank: 48/87 |
467.74 Rank: 48/87 |
3.051 Rank: 50/87 |
4.30299 Rank: 9/87 |
0.01870 (±0.00000) Rank: 49/87 |
0.04797 (±0.00000) Rank: 49/87 |
MTV | 2047.9 | 84.08 | 75.60 Rank: 46/87 |
454.93 Rank: 51/87 |
3.243 Rank: 50/87 |
9.49516 Rank: 2/87 |
0.12028 (±0.00000) Rank: 47/87 |
0.19333 (±0.00000) Rank: 47/87 |
NOR | 2038.9 | 89.66 | 56.42 Rank: 46/87 |
233.04 Rank: 51/87 |
2.881 Rank: 48/87 |
7.21398 Rank: 8/87 |
0.05729 (±0.00000) Rank: 48/87 |
0.08347 (±0.00000) Rank: 49/87 |
SF | 2041.1 | 113.63 | 79.48 Rank: 44/87 |
718.46 Rank: 47/87 |
3.272 Rank: 45/87 |
14.40589 Rank: 8/87 |
0.12047 (±0.00000) Rank: 45/87 |
0.20570 (±0.00000) Rank: 44/87 |
SG | 2033.1 | 126.18 | 66.87 Rank: 43/87 |
569.41 Rank: 43/87 |
3.065 Rank: 48/87 |
14.32111 Rank: 9/87 |
0.10876 (±0.00000) Rank: 42/87 |
0.15200 (±0.00000) Rank: 43/87 |
SYD | 2019.0 | 111.95 | 65.96 Rank: 48/87 |
457.72 Rank: 47/87 |
2.973 Rank: 47/87 |
8.13362 Rank: 4/87 |
0.08200 (±0.00000) Rank: 48/87 |
0.13202 (±0.00000) Rank: 48/87 |
TOK | 2039.4 | 143.33 | 83.67 Rank: 45/87 |
990.49 Rank: 47/87 |
3.380 Rank: 49/87 |
10.74593 Rank: 7/87 |
0.46837 (±0.00000) Rank: 43/87 |
0.53438 (±0.00000) Rank: 43/87 |
TOR | 2041.5 | 58.07 | 65.38 Rank: 45/87 |
336.65 Rank: 47/87 |
2.947 Rank: 49/87 |
6.94978 Rank: 2/87 |
0.05696 (±0.00000) Rank: 44/87 |
0.10100 (±0.00000) Rank: 45/87 |
ZRH | 2043.6 | 110.11 | 70.92 Rank: 45/87 |
803.81 Rank: 47/87 |
3.071 Rank: 48/87 |
13.57117 Rank: 8/87 |
0.03846 (±0.00000) Rank: 43/87 |
0.07530 (±0.00000) Rank: 44/87 |
Avg | 2041.2 | 109.31 | 71.09 Rank: 46/87 |
590.61 Rank: 47/87 |
3.170 Rank: 50/87 |
13.52064 Rank: 4/87 |
0.10858 (±0.00000) Rank: 44/87 |
0.16257 (±0.00000) Rank: 45/87 |
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/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/5af4c9b258d9fb50-harrisz-2k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)