Submission ID: 6693e8a9
disk_nn_ransac
Processed: 21-06-03. Download link: 6693e8a9ab472e10-disk_ransac_test2.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: cc (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 8000
- Summary: disk 8k, fginn, degensac
- Paper: N/A
- Website: N/A
- Processing date: 21-06-03
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.47872 (±0.00000 over 1 run(s) / ±0.13368 over 9 scenes)
Rank (per category): 37 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7951.4 | — | 1594.6 | 0.723 Rank: 5/51 |
0.958 Rank: 4/51 |
0.24914 (±0.00000) Rank: 23/51 |
0.37927 (±0.00000) Rank: 22/51 |
FCS | 8000.0 | — | 712.4 | 0.596 Rank: 2/51 |
0.898 Rank: 21/51 |
0.58418 (±0.00000) Rank: 28/51 |
0.69794 (±0.00000) Rank: 29/51 |
LMS | 7890.1 | — | 490.8 | 0.604 Rank: 4/51 |
0.651 Rank: 36/51 |
0.37456 (±0.00000) Rank: 42/51 |
0.46354 (±0.00000) Rank: 42/51 |
LB | 7832.7 | — | 829.5 | 0.679 Rank: 1/51 |
0.768 Rank: 9/51 |
0.44072 (±0.00000) Rank: 23/51 |
0.52625 (±0.00000) Rank: 36/51 |
MC | 7988.3 | — | 1768.0 | 0.754 Rank: 1/51 |
0.953 Rank: 8/51 |
0.40525 (±0.00000) Rank: 23/51 |
0.55101 (±0.00000) Rank: 23/51 |
MR | 7995.9 | — | 900.6 | 0.666 Rank: 3/51 |
0.944 Rank: 22/51 |
0.33677 (±0.00000) Rank: 9/51 |
0.45181 (±0.00000) Rank: 10/51 |
PSM | 8000.0 | — | 698.7 | 0.567 Rank: 2/51 |
0.672 Rank: 20/51 |
0.10361 (±0.00000) Rank: 39/51 |
0.17988 (±0.00000) Rank: 39/51 |
SF | 8000.0 | — | 1333.8 | 0.588 Rank: 3/51 |
0.786 Rank: 37/51 |
0.41745 (±0.00000) Rank: 38/51 |
0.52895 (±0.00000) Rank: 38/51 |
SPC | 8000.0 | — | 1085.3 | 0.653 Rank: 1/51 |
0.835 Rank: 26/51 |
0.39471 (±0.00000) Rank: 34/51 |
0.52986 (±0.00000) Rank: 37/51 |
Avg | 7962.0 | — | 1046.0 | 0.648 Rank: 1/51 |
0.829 Rank: 24/51 |
0.36738 (±0.00000) Rank: 35/51 |
0.47872 (±0.00000) Rank: 37/51 |
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/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08198 over 9 scenes)
Rank (per category): 32 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7951.4 | 1614.45 | 99.80 Rank: 25/51 |
4660.12 Rank: 17/51 |
6.586 Rank: 4/51 |
0.43544 Rank: 18/51 |
0.51067 (±0.00000) Rank: 22/51 |
0.65614 (±0.00000) Rank: 20/51 |
FCS | 8000.0 | 743.56 | 97.36 Rank: 30/51 |
5811.16 Rank: 20/51 |
5.377 Rank: 6/51 |
0.28164 Rank: 30/51 |
0.68055 (±0.00000) Rank: 34/51 |
0.74337 (±0.00000) Rank: 34/51 |
LMS | 7890.1 | 552.96 | 96.56 Rank: 44/51 |
3081.21 Rank: 26/51 |
5.065 Rank: 19/51 |
0.30546 Rank: 19/51 |
0.74874 (±0.00000) Rank: 36/51 |
0.81711 (±0.00000) Rank: 36/51 |
LB | 7832.7 | 1043.55 | 97.35 Rank: 34/51 |
3980.32 Rank: 22/51 |
6.022 Rank: 6/51 |
0.45971 Rank: 4/51 |
0.71823 (±0.00000) Rank: 15/51 |
0.79609 (±0.00000) Rank: 23/51 |
MC | 7988.3 | 1724.07 | 99.60 Rank: 35/51 |
5966.19 Rank: 17/51 |
6.361 Rank: 8/51 |
0.35491 Rank: 21/51 |
0.53298 (±0.00000) Rank: 27/51 |
0.68337 (±0.00000) Rank: 25/51 |
MR | 7995.9 | 890.62 | 95.21 Rank: 15/51 |
6405.94 Rank: 18/51 |
5.303 Rank: 9/51 |
0.45809 Rank: 5/51 |
0.48775 (±0.00000) Rank: 4/51 |
0.60475 (±0.00000) Rank: 5/51 |
PSM | 8000.0 | 702.47 | 91.86 Rank: 34/51 |
5332.26 Rank: 23/51 |
4.284 Rank: 13/51 |
0.52682 Rank: 28/51 |
0.48712 (±0.00000) Rank: 25/51 |
0.55908 (±0.00000) Rank: 28/51 |
SF | 8000.0 | 1314.80 | 94.19 Rank: 42/51 |
6777.08 Rank: 18/51 |
5.123 Rank: 11/51 |
0.33027 Rank: 33/51 |
0.67124 (±0.00000) Rank: 35/51 |
0.74740 (±0.00000) Rank: 36/51 |
SPC | 8000.0 | 1133.42 | 96.81 Rank: 38/51 |
5395.19 Rank: 18/51 |
5.547 Rank: 8/51 |
0.45364 Rank: 20/51 |
0.65219 (±0.00000) Rank: 30/51 |
0.75162 (±0.00000) Rank: 31/51 |
Avg | 7962.0 | 1079.99 | 96.53 Rank: 35/51 |
5267.72 Rank: 17/51 |
5.519 Rank: 7/51 |
0.40066 Rank: 22/51 |
0.60994 (±0.00000) Rank: 30/51 |
0.70655 (±0.00000) Rank: 32/51 |
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/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.46837 (±0.00000 over 1 run(s) / ±0.07478 over 3 scenes)
Rank (per category): 33 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 726.0 | 0.099 Rank: 22/51 |
0.009 Rank: 31/51 |
0.25908 (±0.00000) Rank: 35/51 |
0.37601 (±0.00000) Rank: 32/51 |
Pond | 8000.0 | — | 829.0 | 0.126 Rank: 22/51 |
0.054 Rank: 18/51 |
0.34309 (±0.00000) Rank: 32/51 |
0.46994 (±0.00000) Rank: 32/51 |
Tree | 8000.0 | — | 519.0 | 0.106 Rank: 25/51 |
0.020 Rank: 22/51 |
0.44857 (±0.00000) Rank: 32/51 |
0.55916 (±0.00000) Rank: 32/51 |
Avg | 8000.0 | — | 691.4 | 0.110 Rank: 24/51 |
0.028 Rank: 21/51 |
0.35025 (±0.00000) Rank: 33/51 |
0.46837 (±0.00000) Rank: 33/51 |
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/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12099 over 3 scenes)
Rank (per category): 30 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 954.46 | 82.63 Rank: 28/51 |
1881.42 Rank: 24/51 |
3.577 Rank: 3/51 |
14.10387 Rank: 23/51 |
0.46971 (±0.00000) Rank: 30/51 |
0.56143 (±0.00000) Rank: 29/51 |
Pond | 8000.0 | 1429.09 | 69.97 Rank: 19/51 |
2232.04 Rank: 20/51 |
3.028 Rank: 15/51 |
0.44251 Rank: 35/51 |
0.24204 (±0.00000) Rank: 33/51 |
0.27426 (±0.00000) Rank: 35/51 |
Tree | 8000.0 | 702.62 | 71.89 Rank: 15/51 |
1144.33 Rank: 21/51 |
3.029 Rank: 12/51 |
6.26068 Rank: 29/51 |
0.44571 (±0.00000) Rank: 19/51 |
0.48121 (±0.00000) Rank: 19/51 |
Avg | 8000.0 | 1028.72 | 74.83 Rank: 24/51 |
1752.60 Rank: 20/51 |
3.211 Rank: 9/51 |
6.93569 Rank: 29/51 |
0.38582 (±0.00000) Rank: 30/51 |
0.43897 (±0.00000) Rank: 30/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.26883 (±0.00000 over 1 run(s) / ±0.11692 over 17 scenes)
Rank (per category): 23 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 7978.5 | — | 572.0 | 0.14821 (±0.00000) Rank: 24/51 |
0.27768 (±0.00000) Rank: 24/51 |
Bangkok (BGK) | 7898.2 | — | 454.3 | 0.05955 (±0.00000) Rank: 17/51 |
0.15285 (±0.00000) Rank: 20/51 |
Barcelona (BCN) | 7998.5 | — | 496.9 | 0.10769 (±0.00000) Rank: 20/51 |
0.17802 (±0.00000) Rank: 19/51 |
Buenos Aires (BAR) | 7986.1 | — | 568.2 | 0.18721 (±0.00000) Rank: 24/51 |
0.30776 (±0.00000) Rank: 16/51 |
Cambridge (CAM) | 7653.5 | — | 385.0 | 0.14521 (±0.00000) Rank: 24/51 |
0.23904 (±0.00000) Rank: 27/51 |
Cannes (CAN) | 7987.5 | — | 545.8 | 0.35853 (±0.00000) Rank: 18/51 |
0.44562 (±0.00000) Rank: 19/51 |
Chicago (CHI) | 7600.3 | — | 224.8 | 0.11134 (±0.00000) Rank: 18/51 |
0.18258 (±0.00000) Rank: 18/51 |
Helsinki (HEL) | 7988.8 | — | 758.9 | 0.31856 (±0.00000) Rank: 22/51 |
0.50979 (±0.00000) Rank: 23/51 |
Madrid (MAD) | 8000.0 | — | 245.5 | 0.03587 (±0.00000) Rank: 26/51 |
0.08815 (±0.00000) Rank: 26/51 |
Mountain View (MTV) | 7911.3 | — | 243.8 | 0.11289 (±0.00000) Rank: 24/51 |
0.18926 (±0.00000) Rank: 24/51 |
New Orleans (NOR) | 7843.7 | — | 359.0 | 0.18521 (±0.00000) Rank: 22/51 |
0.23521 (±0.00000) Rank: 23/51 |
San Francisco (SF) | 7832.4 | — | 517.2 | 0.09449 (±0.00000) Rank: 23/51 |
0.16142 (±0.00000) Rank: 25/51 |
Singapore (SG) | 7807.7 | — | 353.8 | 0.17595 (±0.00000) Rank: 23/51 |
0.26171 (±0.00000) Rank: 24/51 |
Sydney (SYD) | 8000.0 | — | 362.6 | 0.22009 (±0.00000) Rank: 21/51 |
0.32445 (±0.00000) Rank: 23/51 |
Tokyo (TOK) | 7989.2 | — | 386.8 | 0.37059 (±0.00000) Rank: 24/51 |
0.50613 (±0.00000) Rank: 25/51 |
Toronto (TOR) | 7986.5 | — | 155.7 | 0.13680 (±0.00000) Rank: 18/51 |
0.25480 (±0.00000) Rank: 19/51 |
Zurich (ZRH) | 8000.0 | — | 436.7 | 0.19656 (±0.00000) Rank: 25/51 |
0.25567 (±0.00000) Rank: 26/51 |
Average (Avg) | 7909.6 | — | 415.7 | 0.17440 (±0.00000) Rank: 21/51 |
0.26883 (±0.00000) Rank: 23/51 |
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/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08899 over 17 scenes)
Rank (per category): 25 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 7978.5 | 326.39 | 73.84 Rank: 25/51 |
1596.96 Rank: 18/51 |
3.430 Rank: 16/51 |
18.98882 Rank: 4/51 |
0.16236 (±0.00000) Rank: 25/51 |
0.23503 (±0.00000) Rank: 25/51 |
BGK | 7898.2 | 287.37 | 90.05 Rank: 25/51 |
2001.03 Rank: 18/51 |
3.771 Rank: 5/51 |
11.04713 Rank: 5/51 |
0.01223 (±0.00000) Rank: 28/51 |
0.04196 (±0.00000) Rank: 28/51 |
BCN | 7998.5 | 257.12 | 74.77 Rank: 24/51 |
1312.75 Rank: 14/51 |
3.204 Rank: 22/51 |
24.26106 Rank: 9/51 |
0.09028 (±0.00000) Rank: 18/51 |
0.15131 (±0.00000) Rank: 17/51 |
BAR | 7986.1 | 290.34 | 57.85 Rank: 24/51 |
1001.13 Rank: 15/51 |
2.909 Rank: 22/51 |
7.36849 Rank: 3/51 |
0.02372 (±0.00000) Rank: 25/51 |
0.04717 (±0.00000) Rank: 25/51 |
CAM | 7653.5 | 215.09 | 63.12 Rank: 24/51 |
1222.44 Rank: 17/51 |
3.261 Rank: 8/51 |
18.54897 Rank: 8/51 |
0.06300 (±0.00000) Rank: 25/51 |
0.09787 (±0.00000) Rank: 25/51 |
CAN | 7987.5 | 279.22 | 59.57 Rank: 22/51 |
714.25 Rank: 15/51 |
3.283 Rank: 13/51 |
13.19273 Rank: 12/51 |
0.02025 (±0.00000) Rank: 21/51 |
0.04814 (±0.00000) Rank: 20/51 |
CHI | 7600.3 | 188.42 | 81.20 Rank: 17/51 |
495.13 Rank: 17/51 |
4.690 Rank: 14/51 |
45.10014 Rank: 16/51 |
0.07375 (±0.00000) Rank: 16/51 |
0.13903 (±0.00000) Rank: 16/51 |
HEL | 7988.8 | 531.08 | 85.97 Rank: 24/51 |
3012.89 Rank: 15/51 |
3.554 Rank: 10/51 |
12.79124 Rank: 16/51 |
0.19091 (±0.00000) Rank: 27/51 |
0.30897 (±0.00000) Rank: 27/51 |
MAD | 8000.0 | 146.42 | 70.98 Rank: 27/51 |
1079.92 Rank: 21/51 |
3.303 Rank: 8/51 |
3.52014 Rank: 5/51 |
0.01240 (±0.00000) Rank: 27/51 |
0.03654 (±0.00000) Rank: 27/51 |
MTV | 7911.3 | 166.65 | 72.47 Rank: 25/51 |
1020.63 Rank: 19/51 |
3.378 Rank: 18/51 |
9.78528 Rank: 4/51 |
0.07033 (±0.00000) Rank: 25/51 |
0.13503 (±0.00000) Rank: 25/51 |
NOR | 7843.7 | 227.96 | 50.64 Rank: 25/51 |
770.76 Rank: 16/51 |
2.838 Rank: 19/51 |
6.52421 Rank: 7/51 |
0.07199 (±0.00000) Rank: 20/51 |
0.09593 (±0.00000) Rank: 21/51 |
SF | 7832.4 | 265.77 | 50.85 Rank: 26/51 |
868.45 Rank: 23/51 |
2.899 Rank: 23/51 |
5.37765 Rank: 3/51 |
0.02159 (±0.00000) Rank: 26/51 |
0.04474 (±0.00000) Rank: 26/51 |
SG | 7807.7 | 207.93 | 52.15 Rank: 27/51 |
656.89 Rank: 24/51 |
3.038 Rank: 19/51 |
10.65669 Rank: 3/51 |
0.04171 (±0.00000) Rank: 26/51 |
0.06657 (±0.00000) Rank: 26/51 |
SYD | 8000.0 | 186.63 | 67.89 Rank: 24/51 |
613.72 Rank: 24/51 |
3.223 Rank: 9/51 |
10.96978 Rank: 7/51 |
0.11376 (±0.00000) Rank: 20/51 |
0.17191 (±0.00000) Rank: 20/51 |
TOK | 7989.2 | 226.55 | 67.70 Rank: 27/51 |
1421.55 Rank: 20/51 |
3.339 Rank: 13/51 |
6.13223 Rank: 2/51 |
0.27195 (±0.00000) Rank: 27/51 |
0.32126 (±0.00000) Rank: 26/51 |
TOR | 7986.5 | 77.86 | 65.48 Rank: 24/51 |
386.29 Rank: 25/51 |
3.283 Rank: 5/51 |
10.34416 Rank: 4/51 |
0.06329 (±0.00000) Rank: 20/51 |
0.10757 (±0.00000) Rank: 21/51 |
ZRH | 8000.0 | 235.59 | 57.04 Rank: 27/51 |
1209.03 Rank: 22/51 |
2.885 Rank: 24/51 |
8.19489 Rank: 2/51 |
0.01367 (±0.00000) Rank: 28/51 |
0.03203 (±0.00000) Rank: 27/51 |
Avg | 7909.6 | 242.14 | 67.15 Rank: 25/51 |
1140.22 Rank: 18/51 |
3.311 Rank: 17/51 |
13.10610 Rank: 4/51 |
0.07748 (±0.00000) Rank: 25/51 |
0.12242 (±0.00000) Rank: 25/51 |
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/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6693e8a9ab472e10-disk_ransac_test2/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)