Submission ID: 6d887e04
DISK-depth
Processed: 21-06-16. Download link: 6d887e04583a4e9c-disk-depth-2048.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: Michal Tyszkiewicz (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 2048
- Summary: Official DISK submission with 2k features, using ratio test and cycle-consistent matching, with DEGENSAC.
- Paper: https://proceedings.neurips.cc/paper/2020/file/a42a596fc71e17828440030074d15e74-Paper.pdf
- Website: https://github.com/cvlab-epfl/disk
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.51219 (±0.00000 over 1 run(s) / ±0.12737 over 9 scenes)
Rank (per category): 43 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | 717.9 | 571.9 | 0.583 Rank: 14/87 |
0.958 Rank: 3/87 |
0.27390 (±0.00000) Rank: 44/87 |
0.41462 (±0.00000) Rank: 43/87 |
FCS | 2048.0 | 514.8 | 400.1 | 0.420 Rank: 8/87 |
0.893 Rank: 5/87 |
0.57609 (±0.00000) Rank: 41/87 |
0.69302 (±0.00000) Rank: 45/87 |
LMS | 2048.0 | 430.9 | 326.6 | 0.394 Rank: 51/87 |
0.709 Rank: 8/87 |
0.47243 (±0.00000) Rank: 58/87 |
0.59088 (±0.00000) Rank: 60/87 |
LB | 2048.0 | 452.6 | 349.9 | 0.472 Rank: 3/87 |
0.782 Rank: 2/87 |
0.48342 (±0.00000) Rank: 44/87 |
0.57690 (±0.00000) Rank: 39/87 |
MC | 2048.0 | 685.6 | 555.8 | 0.525 Rank: 14/87 |
0.959 Rank: 2/87 |
0.37019 (±0.00000) Rank: 44/87 |
0.53079 (±0.00000) Rank: 9/87 |
MR | 2048.0 | 471.7 | 392.6 | 0.431 Rank: 26/87 |
0.937 Rank: 8/87 |
0.28033 (±0.00000) Rank: 25/87 |
0.38164 (±0.00000) Rank: 31/87 |
PSM | 2048.0 | 341.6 | 265.0 | 0.358 Rank: 26/87 |
0.730 Rank: 4/87 |
0.13798 (±0.00000) Rank: 51/87 |
0.25557 (±0.00000) Rank: 51/87 |
SF | 2048.0 | 474.2 | 366.6 | 0.383 Rank: 19/87 |
0.837 Rank: 5/87 |
0.45254 (±0.00000) Rank: 43/87 |
0.57560 (±0.00000) Rank: 47/87 |
SPC | 2048.0 | 539.1 | 408.4 | 0.468 Rank: 4/87 |
0.865 Rank: 2/87 |
0.43820 (±0.00000) Rank: 43/87 |
0.59065 (±0.00000) Rank: 43/87 |
Avg | 2048.0 | 514.3 | 404.1 | 0.448 Rank: 8/87 |
0.852 Rank: 2/87 |
0.38723 (±0.00000) Rank: 42/87 |
0.51219 (±0.00000) Rank: 43/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09580 over 9 scenes)
Rank (per category): 46 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 716.44 | 100.00 Rank: 1/87 |
2232.42 Rank: 21/87 |
6.501 Rank: 9/87 |
0.40367 Rank: 43/87 |
0.53592 (±0.00000) Rank: 44/87 |
0.68133 (±0.00000) Rank: 44/87 |
FCS | 2048.0 | 530.76 | 97.08 Rank: 56/87 |
2605.30 Rank: 34/87 |
5.252 Rank: 6/87 |
0.28176 Rank: 64/87 |
0.70136 (±0.00000) Rank: 57/87 |
0.76637 (±0.00000) Rank: 61/87 |
LMS | 2048.0 | 461.18 | 99.47 Rank: 16/87 |
2112.31 Rank: 19/87 |
5.587 Rank: 32/87 |
0.33588 Rank: 67/87 |
0.79068 (±0.00000) Rank: 63/87 |
0.85350 (±0.00000) Rank: 63/87 |
LB | 2048.0 | 534.16 | 97.76 Rank: 55/87 |
2016.21 Rank: 35/87 |
6.050 Rank: 6/87 |
0.46384 Rank: 6/87 |
0.73144 (±0.00000) Rank: 5/87 |
0.80701 (±0.00000) Rank: 32/87 |
MC | 2048.0 | 672.07 | 100.00 Rank: 1/87 |
2526.58 Rank: 9/87 |
6.122 Rank: 12/87 |
0.39748 Rank: 55/87 |
0.52313 (±0.00000) Rank: 44/87 |
0.67414 (±0.00000) Rank: 44/87 |
MR | 2048.0 | 463.55 | 94.67 Rank: 34/87 |
2544.15 Rank: 7/87 |
4.909 Rank: 23/87 |
0.47975 Rank: 5/87 |
0.45076 (±0.00000) Rank: 6/87 |
0.57261 (±0.00000) Rank: 8/87 |
PSM | 2048.0 | 338.90 | 96.28 Rank: 47/87 |
2689.36 Rank: 18/87 |
4.271 Rank: 46/87 |
0.54946 Rank: 55/87 |
0.52113 (±0.00000) Rank: 49/87 |
0.59681 (±0.00000) Rank: 49/87 |
SF | 2048.0 | 465.99 | 97.07 Rank: 57/87 |
2694.05 Rank: 38/87 |
5.059 Rank: 22/87 |
0.29062 Rank: 39/87 |
0.73667 (±0.00000) Rank: 44/87 |
0.81612 (±0.00000) Rank: 50/87 |
SPC | 2048.0 | 554.10 | 99.15 Rank: 58/87 |
2402.83 Rank: 24/87 |
5.788 Rank: 10/87 |
0.50305 Rank: 57/87 |
0.70141 (±0.00000) Rank: 50/87 |
0.79840 (±0.00000) Rank: 54/87 |
Avg | 2048.0 | 526.35 | 97.94 Rank: 50/87 |
2424.80 Rank: 22/87 |
5.504 Rank: 10/87 |
0.41172 Rank: 48/87 |
0.63250 (±0.00000) Rank: 42/87 |
0.72959 (±0.00000) Rank: 46/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.45896 (±0.00000 over 1 run(s) / ±0.05348 over 3 scenes)
Rank (per category): 61 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | 239.4 | 194.7 | 0.040 Rank: 17/87 |
0.008 Rank: 60/87 |
0.28266 (±0.00000) Rank: 64/87 |
0.38793 (±0.00000) Rank: 64/87 |
Pond | 2048.0 | 303.1 | 237.0 | 0.069 Rank: 14/87 |
0.059 Rank: 5/87 |
0.34749 (±0.00000) Rank: 62/87 |
0.47194 (±0.00000) Rank: 62/87 |
Tree | 2048.0 | 195.7 | 149.5 | 0.045 Rank: 11/87 |
0.019 Rank: 59/87 |
0.40839 (±0.00000) Rank: 61/87 |
0.51700 (±0.00000) Rank: 60/87 |
Avg | 2048.0 | 246.1 | 193.8 | 0.051 Rank: 13/87 |
0.029 Rank: 10/87 |
0.34618 (±0.00000) Rank: 62/87 |
0.45896 (±0.00000) Rank: 61/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13085 over 3 scenes)
Rank (per category): 60 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 285.82 | 82.97 Rank: 57/87 |
827.50 Rank: 50/87 |
3.400 Rank: 25/87 |
13.90366 Rank: 14/87 |
0.51153 (±0.00000) Rank: 58/87 |
0.60169 (±0.00000) Rank: 58/87 |
Pond | 2048.0 | 424.35 | 69.00 Rank: 24/87 |
995.71 Rank: 24/87 |
3.106 Rank: 7/87 |
0.42760 Rank: 37/87 |
0.23851 (±0.00000) Rank: 61/87 |
0.28189 (±0.00000) Rank: 54/87 |
Tree | 2048.0 | 262.37 | 71.87 Rank: 23/87 |
568.81 Rank: 24/87 |
3.099 Rank: 4/87 |
5.79027 Rank: 15/87 |
0.37020 (±0.00000) Rank: 60/87 |
0.42337 (±0.00000) Rank: 55/87 |
Avg | 2048.0 | 324.18 | 74.61 Rank: 45/87 |
797.34 Rank: 35/87 |
3.202 Rank: 6/87 |
6.70718 Rank: 15/87 |
0.37341 (±0.00000) Rank: 60/87 |
0.43565 (±0.00000) Rank: 60/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.27638 (±0.00000 over 1 run(s) / ±0.13494 over 17 scenes)
Rank (per category): 46 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | 254.5 | 220.9 | 0.15804 (±0.00000) Rank: 42/87 |
0.26295 (±0.00000) Rank: 45/87 |
Bangkok (BGK) | 2048.0 | 308.8 | 257.3 | 0.06402 (±0.00000) Rank: 19/87 |
0.15732 (±0.00000) Rank: 34/87 |
Barcelona (BCN) | 2048.0 | 151.1 | 124.3 | 0.09084 (±0.00000) Rank: 43/87 |
0.15348 (±0.00000) Rank: 44/87 |
Buenos Aires (BAR) | 2048.0 | 190.0 | 159.1 | 0.18721 (±0.00000) Rank: 42/87 |
0.30639 (±0.00000) Rank: 41/87 |
Cambridge (CAM) | 2048.0 | 217.5 | 185.6 | 0.25822 (±0.00000) Rank: 42/87 |
0.38562 (±0.00000) Rank: 41/87 |
Cannes (CAN) | 2048.0 | 308.7 | 259.9 | 0.39631 (±0.00000) Rank: 26/87 |
0.49724 (±0.00000) Rank: 32/87 |
Chicago (CHI) | 2048.0 | 61.7 | 39.4 | 0.04044 (±0.00000) Rank: 48/87 |
0.06776 (±0.00000) Rank: 49/87 |
Helsinki (HEL) | 2048.0 | 389.1 | 332.4 | 0.33041 (±0.00000) Rank: 35/87 |
0.52912 (±0.00000) Rank: 36/87 |
Madrid (MAD) | 2048.0 | 130.5 | 101.8 | 0.03465 (±0.00000) Rank: 46/87 |
0.08571 (±0.00000) Rank: 47/87 |
Mountain View (MTV) | 2048.0 | 116.5 | 90.3 | 0.10859 (±0.00000) Rank: 48/87 |
0.18125 (±0.00000) Rank: 48/87 |
New Orleans (NOR) | 2048.0 | 140.3 | 109.7 | 0.20414 (±0.00000) Rank: 44/87 |
0.25917 (±0.00000) Rank: 44/87 |
San Francisco (SF) | 2048.0 | 197.6 | 165.4 | 0.13176 (±0.00000) Rank: 45/87 |
0.22992 (±0.00000) Rank: 46/87 |
Singapore (SG) | 2048.0 | 205.8 | 165.7 | 0.18608 (±0.00000) Rank: 45/87 |
0.27373 (±0.00000) Rank: 46/87 |
Sydney (SYD) | 2048.0 | 157.6 | 119.7 | 0.22882 (±0.00000) Rank: 41/87 |
0.35022 (±0.00000) Rank: 42/87 |
Tokyo (TOK) | 2048.0 | 237.7 | 187.0 | 0.37157 (±0.00000) Rank: 47/87 |
0.50515 (±0.00000) Rank: 47/87 |
Toronto (TOR) | 2048.0 | 88.6 | 64.3 | 0.10480 (±0.00000) Rank: 47/87 |
0.21120 (±0.00000) Rank: 47/87 |
Zurich (ZRH) | 2048.0 | 168.5 | 131.7 | 0.19038 (±0.00000) Rank: 46/87 |
0.24227 (±0.00000) Rank: 46/87 |
Average (Avg) | 2048.0 | 195.6 | 159.7 | 0.18155 (±0.00000) Rank: 45/87 |
0.27638 (±0.00000) Rank: 46/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10558 over 17 scenes)
Rank (per category): 49 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 154.10 | 77.61 Rank: 45/87 |
1054.67 Rank: 39/87 |
3.620 Rank: 41/87 |
19.85048 Rank: 7/87 |
0.20207 (±0.00000) Rank: 46/87 |
0.26446 (±0.00000) Rank: 46/87 |
BGK | 2048.0 | 205.43 | 92.80 Rank: 44/87 |
1886.95 Rank: 34/87 |
3.779 Rank: 5/87 |
11.37594 Rank: 7/87 |
0.02054 (±0.00000) Rank: 46/87 |
0.06697 (±0.00000) Rank: 45/87 |
BCN | 2048.0 | 92.32 | 71.28 Rank: 45/87 |
545.72 Rank: 45/87 |
3.390 Rank: 46/87 |
22.70495 Rank: 9/87 |
0.06327 (±0.00000) Rank: 48/87 |
0.10280 (±0.00000) Rank: 48/87 |
BAR | 2048.0 | 109.25 | 65.05 Rank: 45/87 |
527.12 Rank: 44/87 |
3.083 Rank: 45/87 |
11.44794 Rank: 8/87 |
0.06232 (±0.00000) Rank: 46/87 |
0.11325 (±0.00000) Rank: 45/87 |
CAM | 2048.0 | 127.21 | 74.80 Rank: 44/87 |
930.58 Rank: 35/87 |
3.356 Rank: 42/87 |
22.28860 Rank: 13/87 |
0.08795 (±0.00000) Rank: 49/87 |
0.13595 (±0.00000) Rank: 48/87 |
CAN | 2048.0 | 170.42 | 68.93 Rank: 39/87 |
676.18 Rank: 33/87 |
3.372 Rank: 37/87 |
18.94606 Rank: 25/87 |
0.02026 (±0.00000) Rank: 47/87 |
0.05171 (±0.00000) Rank: 45/87 |
CHI | 2048.0 | 53.30 | 60.77 Rank: 49/87 |
311.57 Rank: 39/87 |
3.374 Rank: 49/87 |
41.90665 Rank: 8/87 |
0.01225 (±0.00000) Rank: 49/87 |
0.03156 (±0.00000) Rank: 49/87 |
HEL | 2048.0 | 279.46 | 85.59 Rank: 49/87 |
1826.36 Rank: 36/87 |
3.647 Rank: 47/87 |
9.12742 Rank: 1/87 |
0.20830 (±0.00000) Rank: 45/87 |
0.32237 (±0.00000) Rank: 45/87 |
MAD | 2048.0 | 82.36 | 74.75 Rank: 47/87 |
614.58 Rank: 44/87 |
3.355 Rank: 8/87 |
3.58906 Rank: 6/87 |
0.02034 (±0.00000) Rank: 48/87 |
0.05430 (±0.00000) Rank: 48/87 |
MTV | 2048.0 | 90.37 | 68.62 Rank: 50/87 |
599.93 Rank: 46/87 |
3.414 Rank: 47/87 |
10.59311 Rank: 5/87 |
0.06527 (±0.00000) Rank: 49/87 |
0.11379 (±0.00000) Rank: 50/87 |
NOR | 2048.0 | 93.30 | 55.74 Rank: 47/87 |
433.53 Rank: 44/87 |
3.000 Rank: 46/87 |
7.70669 Rank: 9/87 |
0.06302 (±0.00000) Rank: 45/87 |
0.09337 (±0.00000) Rank: 45/87 |
SF | 2048.0 | 121.16 | 68.36 Rank: 49/87 |
765.92 Rank: 44/87 |
3.212 Rank: 47/87 |
9.71791 Rank: 4/87 |
0.07823 (±0.00000) Rank: 49/87 |
0.13075 (±0.00000) Rank: 49/87 |
SG | 2048.0 | 126.40 | 58.40 Rank: 48/87 |
604.37 Rank: 39/87 |
3.306 Rank: 28/87 |
9.48295 Rank: 4/87 |
0.02831 (±0.00000) Rank: 49/87 |
0.05544 (±0.00000) Rank: 49/87 |
SYD | 2048.0 | 95.06 | 69.09 Rank: 47/87 |
428.06 Rank: 48/87 |
3.298 Rank: 40/87 |
9.55832 Rank: 7/87 |
0.08816 (±0.00000) Rank: 47/87 |
0.13309 (±0.00000) Rank: 47/87 |
TOK | 2048.0 | 148.23 | 80.04 Rank: 47/87 |
1175.88 Rank: 44/87 |
3.700 Rank: 31/87 |
10.99726 Rank: 8/87 |
0.34800 (±0.00000) Rank: 47/87 |
0.41948 (±0.00000) Rank: 47/87 |
TOR | 2048.0 | 56.32 | 58.36 Rank: 49/87 |
300.91 Rank: 48/87 |
3.016 Rank: 46/87 |
7.49853 Rank: 4/87 |
0.02441 (±0.00000) Rank: 48/87 |
0.05062 (±0.00000) Rank: 48/87 |
ZRH | 2048.0 | 103.44 | 61.28 Rank: 49/87 |
689.58 Rank: 49/87 |
3.207 Rank: 45/87 |
10.64905 Rank: 4/87 |
0.00859 (±0.00000) Rank: 50/87 |
0.02676 (±0.00000) Rank: 50/87 |
Avg | 2048.0 | 124.01 | 70.09 Rank: 49/87 |
786.58 Rank: 43/87 |
3.361 Rank: 46/87 |
13.96711 Rank: 6/87 |
0.08243 (±0.00000) Rank: 49/87 |
0.12745 (±0.00000) Rank: 49/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/6d887e04583a4e9c-disk-depth-2048/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)