Submission ID: 60544c40
Lloyd-8K
Processed: 21-06-12. Download link: 60544c406fc2160b-lloyd-8k.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: Lloyd (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Lloyd-8K
- Paper: N/A
- Website: N/A
- Processing date: 21-06-12
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.05393 (±0.00000 over 1 run(s) / ±0.07309 over 9 scenes)
Rank (per category): 46 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 6278.6 | — | 1102.2 | 0.682 Rank: 10/51 |
0.006 Rank: 50/51 |
0.00163 (±0.00000) Rank: 46/51 |
0.00286 (±0.00000) Rank: 46/51 |
FCS | 7386.1 | — | 730.1 | 0.556 Rank: 6/51 |
0.231 Rank: 47/51 |
0.07244 (±0.00000) Rank: 46/51 |
0.09830 (±0.00000) Rank: 46/51 |
LMS | 6403.7 | — | 370.9 | 0.533 Rank: 12/51 |
0.015 Rank: 49/51 |
0.00782 (±0.00000) Rank: 47/51 |
0.00970 (±0.00000) Rank: 47/51 |
LB | 5785.4 | — | 680.4 | 0.586 Rank: 16/51 |
0.001 Rank: 49/51 |
0.00000 (±0.00000) Rank: 46/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | — | 1159.8 | 0.691 Rank: 7/51 |
0.029 Rank: 48/51 |
0.01020 (±0.00000) Rank: 46/51 |
0.01408 (±0.00000) Rank: 46/51 |
MR | 7403.5 | — | 701.2 | 0.640 Rank: 6/51 |
0.332 Rank: 50/51 |
0.07076 (±0.00000) Rank: 48/51 |
0.10176 (±0.00000) Rank: 48/51 |
PSM | 7260.8 | — | 327.8 | 0.538 Rank: 7/51 |
0.093 Rank: 50/51 |
0.00978 (±0.00000) Rank: 46/51 |
0.01618 (±0.00000) Rank: 48/51 |
SF | 7582.5 | — | 627.3 | 0.559 Rank: 8/51 |
0.446 Rank: 50/51 |
0.17516 (±0.00000) Rank: 47/51 |
0.23140 (±0.00000) Rank: 47/51 |
SPC | 6520.9 | — | 1060.4 | 0.600 Rank: 9/51 |
0.024 Rank: 47/51 |
0.00664 (±0.00000) Rank: 45/51 |
0.01109 (±0.00000) Rank: 45/51 |
Avg | 6788.6 | — | 751.1 | 0.598 Rank: 7/51 |
0.131 Rank: 50/51 |
0.03938 (±0.00000) Rank: 46/51 |
0.05393 (±0.00000) Rank: 46/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14015 over 9 scenes)
Rank (per category): 47 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 6278.6 | 1111.14 | 34.67 Rank: 46/51 |
579.09 Rank: 47/51 |
2.553 Rank: 46/51 |
1.30210 Rank: 47/51 |
0.00044 (±0.00000) Rank: 49/51 |
0.00119 (±0.00000) Rank: 50/51 |
FCS | 7386.1 | 782.58 | 58.47 Rank: 47/51 |
3352.90 Rank: 40/51 |
3.833 Rank: 42/51 |
0.49015 Rank: 46/51 |
0.16630 (±0.00000) Rank: 46/51 |
0.19088 (±0.00000) Rank: 46/51 |
LMS | 6403.7 | 417.02 | 36.02 Rank: 50/51 |
638.88 Rank: 47/51 |
2.703 Rank: 48/51 |
0.90653 Rank: 48/51 |
0.00676 (±0.00000) Rank: 46/51 |
0.00857 (±0.00000) Rank: 47/51 |
LB | 5785.4 | 840.66 | 0.00 Rank: 46/51 |
0.00 Rank: 46/51 |
0.000 Rank: 46/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 46/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | 1128.52 | 36.94 Rank: 46/51 |
2582.32 Rank: 43/51 |
2.782 Rank: 47/51 |
1.27535 Rank: 47/51 |
0.00911 (±0.00000) Rank: 48/51 |
0.01287 (±0.00000) Rank: 48/51 |
MR | 7403.5 | 701.05 | 64.45 Rank: 47/51 |
3888.68 Rank: 33/51 |
3.992 Rank: 42/51 |
0.49411 Rank: 25/51 |
0.15123 (±0.00000) Rank: 46/51 |
0.19500 (±0.00000) Rank: 46/51 |
PSM | 7260.8 | 329.83 | 46.56 Rank: 50/51 |
2132.98 Rank: 46/51 |
2.872 Rank: 43/51 |
0.63413 Rank: 38/51 |
0.04258 (±0.00000) Rank: 48/51 |
0.05403 (±0.00000) Rank: 48/51 |
SF | 7582.5 | 611.40 | 75.57 Rank: 48/51 |
4532.43 Rank: 36/51 |
4.520 Rank: 32/51 |
0.39403 Rank: 48/51 |
0.38700 (±0.00000) Rank: 48/51 |
0.43645 (±0.00000) Rank: 48/51 |
SPC | 6520.9 | 1114.58 | 38.79 Rank: 47/51 |
1719.23 Rank: 46/51 |
2.668 Rank: 46/51 |
4.01840 Rank: 48/51 |
0.00460 (±0.00000) Rank: 47/51 |
0.00801 (±0.00000) Rank: 47/51 |
Avg | 6788.6 | 781.86 | 43.50 Rank: 47/51 |
2158.50 Rank: 47/51 |
2.880 Rank: 46/51 |
1.18935 Rank: 46/51 |
0.08534 (±0.00000) Rank: 47/51 |
0.10078 (±0.00000) Rank: 47/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.24164 (±0.00000 over 1 run(s) / ±0.04748 over 3 scenes)
Rank (per category): 38 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 395.4 | 0.134 Rank: 6/51 |
0.009 Rank: 32/51 |
0.12288 (±0.00000) Rank: 38/51 |
0.17781 (±0.00000) Rank: 39/51 |
Pond | 8000.0 | — | 383.6 | 0.171 Rank: 5/51 |
0.058 Rank: 4/51 |
0.19238 (±0.00000) Rank: 38/51 |
0.25551 (±0.00000) Rank: 38/51 |
Tree | 8000.0 | — | 219.1 | 0.146 Rank: 1/51 |
0.016 Rank: 40/51 |
0.21678 (±0.00000) Rank: 38/51 |
0.29161 (±0.00000) Rank: 38/51 |
Avg | 8000.0 | — | 332.7 | 0.150 Rank: 1/51 |
0.028 Rank: 19/51 |
0.17735 (±0.00000) Rank: 38/51 |
0.24164 (±0.00000) Rank: 38/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12384 over 3 scenes)
Rank (per category): 37 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 527.55 | 83.07 Rank: 27/51 |
1900.28 Rank: 23/51 |
3.421 Rank: 14/51 |
14.08821 Rank: 22/51 |
0.39920 (±0.00000) Rank: 36/51 |
0.51478 (±0.00000) Rank: 36/51 |
Pond | 8000.0 | 731.11 | 68.13 Rank: 30/51 |
2055.91 Rank: 25/51 |
2.852 Rank: 28/51 |
0.41752 Rank: 10/51 |
0.18456 (±0.00000) Rank: 37/51 |
0.23852 (±0.00000) Rank: 37/51 |
Tree | 8000.0 | 281.00 | 65.95 Rank: 36/51 |
842.85 Rank: 33/51 |
2.927 Rank: 24/51 |
5.89446 Rank: 14/51 |
0.23016 (±0.00000) Rank: 37/51 |
0.26811 (±0.00000) Rank: 37/51 |
Avg | 8000.0 | 513.22 | 72.38 Rank: 36/51 |
1599.68 Rank: 27/51 |
3.067 Rank: 21/51 |
6.80006 Rank: 16/51 |
0.27130 (±0.00000) Rank: 37/51 |
0.34047 (±0.00000) Rank: 37/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.00004 (±0.00000 over 1 run(s) / ±0.00011 over 17 scenes)
Rank (per category): 30 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4334.3 | — | 206.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Bangkok (BGK) | 3599.8 | — | 228.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Barcelona (BCN) | 4610.3 | — | 149.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00037 (±0.00000) Rank: 29/51 |
Buenos Aires (BAR) | 4336.3 | — | 180.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Cambridge (CAM) | 3294.7 | — | 150.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00034 (±0.00000) Rank: 29/51 |
Cannes (CAN) | 3459.3 | — | 238.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Chicago (CHI) | 4249.8 | — | 50.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 31/51 |
Helsinki (HEL) | 3841.1 | — | 393.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Madrid (MAD) | 4049.7 | — | 80.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Mountain View (MTV) | 4192.5 | — | 95.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
New Orleans (NOR) | 3727.1 | — | 99.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
San Francisco (SF) | 3565.9 | — | 151.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Singapore (SG) | 3334.7 | — | 142.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Sydney (SYD) | 3714.6 | — | 102.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Tokyo (TOK) | 3583.7 | — | 135.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Toronto (TOR) | 3940.2 | — | 54.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Zurich (ZRH) | 4461.8 | — | 180.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Average (Avg) | 3899.7 | — | 155.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00004 (±0.00000) Rank: 30/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.00000 over 17 scenes)
Rank (per category): 29 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4334.3 | 115.91 | 13.33 Rank: 29/51 |
3.67 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BGK | 3599.8 | 137.59 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BCN | 4610.3 | 78.00 | 13.33 Rank: 29/51 |
2.00 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BAR | 4336.3 | 90.67 | 13.33 Rank: 29/51 |
8.67 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAM | 3294.7 | 79.45 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAN | 3459.3 | 123.95 | 0.00 Rank: 32/51 |
0.00 Rank: 32/51 |
0.000 Rank: 32/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CHI | 4249.8 | 38.81 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
HEL | 3841.1 | 273.84 | 0.00 Rank: 29/51 |
0.00 Rank: 29/51 |
0.000 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MAD | 4049.7 | 44.32 | 13.33 Rank: 29/51 |
3.89 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MTV | 4192.5 | 66.28 | 13.33 Rank: 29/51 |
7.33 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
NOR | 3727.1 | 63.94 | 13.33 Rank: 29/51 |
10.83 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SF | 3565.9 | 83.40 | 13.33 Rank: 29/51 |
17.17 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SG | 3334.7 | 81.74 | 13.33 Rank: 29/51 |
8.33 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SYD | 3714.6 | 51.46 | 13.33 Rank: 29/51 |
15.00 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOK | 3583.7 | 81.24 | 13.33 Rank: 29/51 |
2.33 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOR | 3940.2 | 26.96 | 13.33 Rank: 31/51 |
1.17 Rank: 33/51 |
0.667 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
ZRH | 4461.8 | 95.98 | 0.00 Rank: 34/51 |
0.00 Rank: 34/51 |
0.000 Rank: 34/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Avg | 3899.7 | 90.21 | 8.63 Rank: 32/51 |
4.73 Rank: 32/51 |
0.431 Rank: 33/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
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![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/60544c406fc2160b-lloyd-8k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)