Submission ID: 6d4e959d
Estelle-8K
Processed: 21-06-11. Download link: 6d4e959d04c78859-estelle-8k.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Estelle (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Estelle-8K
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.05310 (±0.00000 over 1 run(s) / ±0.07488 over 9 scenes)
Rank (per category): 47 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 6278.6 | — | 815.3 | 0.682 Rank: 10/51 |
0.006 Rank: 49/51 |
0.00127 (±0.00000) Rank: 47/51 |
0.00247 (±0.00000) Rank: 48/51 |
FCS | 7386.1 | — | 740.1 | 0.556 Rank: 6/51 |
0.224 Rank: 49/51 |
0.05918 (±0.00000) Rank: 47/51 |
0.08307 (±0.00000) Rank: 47/51 |
LMS | 6403.7 | — | 356.7 | 0.533 Rank: 12/51 |
0.015 Rank: 50/51 |
0.00860 (±0.00000) Rank: 46/51 |
0.01034 (±0.00000) Rank: 46/51 |
LB | 5785.4 | — | 551.3 | 0.586 Rank: 16/51 |
0.000 Rank: 50/51 |
0.00000 (±0.00000) Rank: 47/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | — | 1084.7 | 0.691 Rank: 7/51 |
0.029 Rank: 47/51 |
0.00919 (±0.00000) Rank: 47/51 |
0.01314 (±0.00000) Rank: 47/51 |
MR | 7403.5 | — | 836.2 | 0.640 Rank: 6/51 |
0.362 Rank: 47/51 |
0.07272 (±0.00000) Rank: 46/51 |
0.10825 (±0.00000) Rank: 46/51 |
PSM | 7260.8 | — | 381.3 | 0.538 Rank: 7/51 |
0.100 Rank: 47/51 |
0.00733 (±0.00000) Rank: 48/51 |
0.01405 (±0.00000) Rank: 49/51 |
SF | 7582.5 | — | 780.5 | 0.559 Rank: 8/51 |
0.482 Rank: 47/51 |
0.18314 (±0.00000) Rank: 46/51 |
0.23805 (±0.00000) Rank: 46/51 |
SPC | 6520.9 | — | 742.0 | 0.600 Rank: 9/51 |
0.022 Rank: 50/51 |
0.00484 (±0.00000) Rank: 47/51 |
0.00851 (±0.00000) Rank: 47/51 |
Avg | 6788.6 | — | 698.7 | 0.598 Rank: 7/51 |
0.138 Rank: 47/51 |
0.03847 (±0.00000) Rank: 47/51 |
0.05310 (±0.00000) Rank: 47/51 |
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/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14637 over 9 scenes)
Rank (per category): 46 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 6278.6 | 820.55 | 24.44 Rank: 50/51 |
678.33 Rank: 46/51 |
1.634 Rank: 49/51 |
1.50678 Rank: 48/51 |
0.00099 (±0.00000) Rank: 46/51 |
0.00195 (±0.00000) Rank: 46/51 |
FCS | 7386.1 | 785.61 | 59.23 Rank: 46/51 |
3470.10 Rank: 37/51 |
3.849 Rank: 41/51 |
0.49219 Rank: 48/51 |
0.16155 (±0.00000) Rank: 47/51 |
0.18748 (±0.00000) Rank: 47/51 |
LMS | 6403.7 | 397.98 | 36.30 Rank: 49/51 |
684.74 Rank: 46/51 |
2.662 Rank: 49/51 |
0.95490 Rank: 50/51 |
0.00661 (±0.00000) Rank: 47/51 |
0.00887 (±0.00000) Rank: 46/51 |
LB | 5785.4 | 685.47 | 0.00 Rank: 46/51 |
0.00 Rank: 46/51 |
0.000 Rank: 46/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 46/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | 1059.80 | 36.94 Rank: 46/51 |
2661.29 Rank: 42/51 |
2.805 Rank: 46/51 |
1.54459 Rank: 50/51 |
0.00881 (±0.00000) Rank: 50/51 |
0.01234 (±0.00000) Rank: 50/51 |
MR | 7403.5 | 838.88 | 64.43 Rank: 48/51 |
4037.99 Rank: 30/51 |
4.040 Rank: 41/51 |
0.47636 Rank: 14/51 |
0.14879 (±0.00000) Rank: 47/51 |
0.19431 (±0.00000) Rank: 47/51 |
PSM | 7260.8 | 381.04 | 49.39 Rank: 46/51 |
2592.58 Rank: 38/51 |
2.885 Rank: 42/51 |
0.76712 Rank: 46/51 |
0.04470 (±0.00000) Rank: 46/51 |
0.05798 (±0.00000) Rank: 46/51 |
SF | 7582.5 | 759.10 | 76.62 Rank: 46/51 |
4888.07 Rank: 34/51 |
4.690 Rank: 27/51 |
0.35275 Rank: 39/51 |
0.41370 (±0.00000) Rank: 46/51 |
0.46100 (±0.00000) Rank: 46/51 |
SPC | 6520.9 | 784.19 | 37.17 Rank: 49/51 |
1526.49 Rank: 47/51 |
2.640 Rank: 49/51 |
3.62346 Rank: 46/51 |
0.00417 (±0.00000) Rank: 50/51 |
0.00684 (±0.00000) Rank: 50/51 |
Avg | 6788.6 | 723.62 | 42.73 Rank: 48/51 |
2282.18 Rank: 46/51 |
2.801 Rank: 47/51 |
1.21477 Rank: 47/51 |
0.08770 (±0.00000) Rank: 46/51 |
0.10342 (±0.00000) Rank: 46/51 |
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/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.25664 (±0.00000 over 1 run(s) / ±0.05839 over 3 scenes)
Rank (per category): 37 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 423.6 | 0.134 Rank: 6/51 |
0.009 Rank: 29/51 |
0.11956 (±0.00000) Rank: 39/51 |
0.17892 (±0.00000) Rank: 38/51 |
Pond | 8000.0 | — | 451.8 | 0.171 Rank: 5/51 |
0.058 Rank: 5/51 |
0.19800 (±0.00000) Rank: 37/51 |
0.27134 (±0.00000) Rank: 37/51 |
Tree | 8000.0 | — | 253.1 | 0.146 Rank: 1/51 |
0.019 Rank: 32/51 |
0.24283 (±0.00000) Rank: 37/51 |
0.31965 (±0.00000) Rank: 37/51 |
Avg | 8000.0 | — | 376.1 | 0.150 Rank: 1/51 |
0.028 Rank: 8/51 |
0.18679 (±0.00000) Rank: 37/51 |
0.25664 (±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.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11329 over 3 scenes)
Rank (per category): 35 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 595.08 | 83.40 Rank: 26/51 |
1986.38 Rank: 22/51 |
3.465 Rank: 9/51 |
13.85748 Rank: 13/51 |
0.41420 (±0.00000) Rank: 35/51 |
0.52510 (±0.00000) Rank: 34/51 |
Pond | 8000.0 | 792.53 | 68.17 Rank: 28/51 |
2202.56 Rank: 22/51 |
3.036 Rank: 14/51 |
0.42705 Rank: 16/51 |
0.22800 (±0.00000) Rank: 36/51 |
0.26688 (±0.00000) Rank: 36/51 |
Tree | 8000.0 | 347.19 | 67.24 Rank: 35/51 |
988.97 Rank: 28/51 |
2.932 Rank: 23/51 |
5.55316 Rank: 6/51 |
0.27291 (±0.00000) Rank: 35/51 |
0.30798 (±0.00000) Rank: 35/51 |
Avg | 8000.0 | 578.27 | 72.94 Rank: 35/51 |
1725.97 Rank: 22/51 |
3.144 Rank: 14/51 |
6.61256 Rank: 10/51 |
0.30504 (±0.00000) Rank: 35/51 |
0.36665 (±0.00000) Rank: 35/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.00001 (±0.00000 over 1 run(s) / ±0.00003 over 17 scenes)
Rank (per category): 31 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4334.3 | — | 192.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Bangkok (BGK) | 3599.8 | — | 228.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Barcelona (BCN) | 4610.3 | — | 153.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Buenos Aires (BAR) | 4336.3 | — | 158.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Cambridge (CAM) | 3294.7 | — | 119.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Cannes (CAN) | 3459.3 | — | 178.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Chicago (CHI) | 4249.8 | — | 59.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00014 (±0.00000) Rank: 29/51 |
Helsinki (HEL) | 3841.1 | — | 273.5 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Madrid (MAD) | 4049.7 | — | 80.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Mountain View (MTV) | 4192.5 | — | 100.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
New Orleans (NOR) | 3727.1 | — | 88.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
San Francisco (SF) | 3565.9 | — | 145.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Singapore (SG) | 3334.7 | — | 129.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Sydney (SYD) | 3714.6 | — | 106.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Tokyo (TOK) | 3583.7 | — | 124.8 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Toronto (TOR) | 3940.2 | — | 54.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Zurich (ZRH) | 4461.8 | — | 176.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Average (Avg) | 3899.7 | — | 139.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00001 (±0.00000) Rank: 31/51 |
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/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.00000 over 17 scenes)
Rank (per category): 29 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4334.3 | 109.22 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BGK | 3599.8 | 143.04 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BCN | 4610.3 | 80.14 | 13.33 Rank: 29/51 |
1.67 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BAR | 4336.3 | 80.45 | 13.33 Rank: 29/51 |
9.00 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAM | 3294.7 | 64.05 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAN | 3459.3 | 88.39 | 0.00 Rank: 32/51 |
0.00 Rank: 32/51 |
0.000 Rank: 32/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CHI | 4249.8 | 46.94 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
HEL | 3841.1 | 188.02 | 0.00 Rank: 29/51 |
0.00 Rank: 29/51 |
0.000 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MAD | 4049.7 | 44.45 | 13.33 Rank: 29/51 |
4.11 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MTV | 4192.5 | 68.25 | 13.33 Rank: 29/51 |
19.33 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
NOR | 3727.1 | 54.95 | 13.33 Rank: 29/51 |
7.81 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SF | 3565.9 | 78.78 | 13.33 Rank: 29/51 |
11.75 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SG | 3334.7 | 73.41 | 13.33 Rank: 29/51 |
7.67 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SYD | 3714.6 | 52.60 | 13.33 Rank: 29/51 |
5.89 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOK | 3583.7 | 70.79 | 13.33 Rank: 29/51 |
5.17 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOR | 3940.2 | 27.89 | 13.33 Rank: 31/51 |
1.56 Rank: 32/51 |
0.667 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
ZRH | 4461.8 | 93.88 | 13.33 Rank: 29/51 |
1.00 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Avg | 3899.7 | 80.31 | 8.63 Rank: 32/51 |
4.41 Rank: 33/51 |
0.431 Rank: 32/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d4e959d04c78859-estelle-8k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)