Submission ID: 7152af1f
Cassius-2K
Processed: 21-06-16. Download link: 7152af1f97c7dbd0-cassius-2k.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: Cassius (contact)
- Keypoint: trial
- Descriptor: trial (128 float32: 512 bytes)
- Number of features: 2048
- Summary: Cassius-2K
- Paper: N/A
- Website: N/A
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.33775 (±0.00000 over 1 run(s) / ±0.11821 over 9 scenes)
Rank (per category): 72 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 842.8 | 0.605 Rank: 6/87 |
0.924 Rank: 23/87 |
0.10972 (±0.00000) Rank: 73/87 |
0.21187 (±0.00000) Rank: 73/87 |
FCS | 2048.0 | — | 429.1 | 0.407 Rank: 34/87 |
0.834 Rank: 63/87 |
0.29591 (±0.00000) Rank: 78/87 |
0.40422 (±0.00000) Rank: 79/87 |
LMS | 2048.0 | — | 419.6 | 0.380 Rank: 60/87 |
0.631 Rank: 76/87 |
0.37179 (±0.00000) Rank: 73/87 |
0.48631 (±0.00000) Rank: 72/87 |
LB | 2045.5 | — | 471.6 | 0.448 Rank: 11/87 |
0.716 Rank: 20/87 |
0.24823 (±0.00000) Rank: 73/87 |
0.35314 (±0.00000) Rank: 72/87 |
MC | 2048.0 | — | 740.6 | 0.543 Rank: 3/87 |
0.901 Rank: 26/87 |
0.20760 (±0.00000) Rank: 73/87 |
0.33323 (±0.00000) Rank: 74/87 |
MR | 2048.0 | — | 457.3 | 0.435 Rank: 18/87 |
0.850 Rank: 68/87 |
0.18464 (±0.00000) Rank: 71/87 |
0.26208 (±0.00000) Rank: 73/87 |
PSM | 2048.0 | — | 266.1 | 0.370 Rank: 13/87 |
0.625 Rank: 12/87 |
0.05585 (±0.00000) Rank: 78/87 |
0.11305 (±0.00000) Rank: 78/87 |
SF | 2046.8 | — | 376.1 | 0.372 Rank: 41/87 |
0.721 Rank: 72/87 |
0.27543 (±0.00000) Rank: 74/87 |
0.37921 (±0.00000) Rank: 75/87 |
SPC | 2041.0 | — | 683.6 | 0.467 Rank: 6/87 |
0.830 Rank: 19/87 |
0.32576 (±0.00000) Rank: 63/87 |
0.49662 (±0.00000) Rank: 58/87 |
Avg | 2046.8 | — | 520.7 | 0.448 Rank: 9/87 |
0.781 Rank: 48/87 |
0.23055 (±0.00000) Rank: 72/87 |
0.33775 (±0.00000) Rank: 72/87 |
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/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11136 over 9 scenes)
Rank (per category): 54 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 838.69 | 100.00 Rank: 1/87 |
2332.20 Rank: 12/87 |
6.820 Rank: 5/87 |
0.47805 Rank: 53/87 |
0.43940 (±0.00000) Rank: 58/87 |
0.59983 (±0.00000) Rank: 58/87 |
FCS | 2048.0 | 449.71 | 97.65 Rank: 44/87 |
2484.70 Rank: 42/87 |
5.226 Rank: 8/87 |
0.26479 Rank: 53/87 |
0.69572 (±0.00000) Rank: 59/87 |
0.76974 (±0.00000) Rank: 59/87 |
LMS | 2048.0 | 457.77 | 99.41 Rank: 23/87 |
2221.79 Rank: 13/87 |
5.581 Rank: 33/87 |
0.31490 Rank: 57/87 |
0.78276 (±0.00000) Rank: 65/87 |
0.85269 (±0.00000) Rank: 64/87 |
LB | 2045.5 | 560.61 | 97.69 Rank: 58/87 |
2015.15 Rank: 36/87 |
5.997 Rank: 8/87 |
0.48583 Rank: 33/87 |
0.67511 (±0.00000) Rank: 50/87 |
0.77787 (±0.00000) Rank: 49/87 |
MC | 2048.0 | 729.01 | 99.69 Rank: 55/87 |
2497.92 Rank: 16/87 |
6.385 Rank: 5/87 |
0.37024 Rank: 46/87 |
0.51093 (±0.00000) Rank: 52/87 |
0.66037 (±0.00000) Rank: 51/87 |
MR | 2048.0 | 454.01 | 93.63 Rank: 50/87 |
2515.73 Rank: 12/87 |
4.993 Rank: 5/87 |
0.51051 Rank: 28/87 |
0.38863 (±0.00000) Rank: 47/87 |
0.50174 (±0.00000) Rank: 50/87 |
PSM | 2048.0 | 267.73 | 93.82 Rank: 58/87 |
2376.64 Rank: 39/87 |
4.563 Rank: 27/87 |
0.49853 Rank: 49/87 |
0.53020 (±0.00000) Rank: 47/87 |
0.60976 (±0.00000) Rank: 48/87 |
SF | 2046.8 | 367.26 | 95.01 Rank: 67/87 |
2511.19 Rank: 44/87 |
5.047 Rank: 23/87 |
0.32780 Rank: 61/87 |
0.65938 (±0.00000) Rank: 68/87 |
0.74730 (±0.00000) Rank: 67/87 |
SPC | 2041.0 | 701.20 | 100.00 Rank: 1/87 |
2624.24 Rank: 5/87 |
5.977 Rank: 5/87 |
0.48859 Rank: 54/87 |
0.72653 (±0.00000) Rank: 39/87 |
0.82777 (±0.00000) Rank: 38/87 |
Avg | 2046.8 | 536.22 | 97.44 Rank: 57/87 |
2397.73 Rank: 23/87 |
5.621 Rank: 5/87 |
0.41547 Rank: 51/87 |
0.60096 (±0.00000) Rank: 55/87 |
0.70523 (±0.00000) Rank: 54/87 |
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/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.26770 (±0.00000 over 1 run(s) / ±0.02111 over 3 scenes)
Rank (per category): 70 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 143.5 | 0.045 Rank: 7/87 |
0.005 Rank: 69/87 |
0.17365 (±0.00000) Rank: 69/87 |
0.24535 (±0.00000) Rank: 70/87 |
Pond | 2048.0 | — | 186.9 | 0.075 Rank: 6/87 |
0.054 Rank: 14/87 |
0.17996 (±0.00000) Rank: 70/87 |
0.26172 (±0.00000) Rank: 70/87 |
Tree | 2048.0 | — | 106.1 | 0.049 Rank: 4/87 |
0.018 Rank: 65/87 |
0.21015 (±0.00000) Rank: 69/87 |
0.29603 (±0.00000) Rank: 69/87 |
Avg | 2048.0 | — | 145.5 | 0.056 Rank: 6/87 |
0.026 Rank: 61/87 |
0.18792 (±0.00000) Rank: 69/87 |
0.26770 (±0.00000) Rank: 70/87 |
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/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12590 over 3 scenes)
Rank (per category): 66 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 192.64 | 80.90 Rank: 65/87 |
651.87 Rank: 57/87 |
3.258 Rank: 57/87 |
13.34194 Rank: 7/87 |
0.45411 (±0.00000) Rank: 63/87 |
0.54633 (±0.00000) Rank: 63/87 |
Pond | 2048.0 | 307.02 | 66.20 Rank: 64/87 |
829.31 Rank: 47/87 |
3.001 Rank: 17/87 |
0.42357 Rank: 26/87 |
0.23078 (±0.00000) Rank: 64/87 |
0.26761 (±0.00000) Rank: 63/87 |
Tree | 2048.0 | 167.46 | 69.60 Rank: 60/87 |
439.96 Rank: 49/87 |
2.925 Rank: 56/87 |
5.70101 Rank: 8/87 |
0.26984 (±0.00000) Rank: 67/87 |
0.29268 (±0.00000) Rank: 67/87 |
Avg | 2048.0 | 222.37 | 72.23 Rank: 64/87 |
640.38 Rank: 54/87 |
3.061 Rank: 44/87 |
6.48884 Rank: 8/87 |
0.31824 (±0.00000) Rank: 65/87 |
0.36887 (±0.00000) Rank: 66/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.16857 (±0.00000 over 1 run(s) / ±0.07714 over 17 scenes)
Rank (per category): 49 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 258.3 | 0.10625 (±0.00000) Rank: 49/87 |
0.21205 (±0.00000) Rank: 49/87 |
Bangkok (BGK) | 2048.0 | — | 355.6 | 0.02333 (±0.00000) Rank: 49/87 |
0.09032 (±0.00000) Rank: 49/87 |
Barcelona (BCN) | 2048.0 | — | 139.3 | 0.03736 (±0.00000) Rank: 50/87 |
0.08681 (±0.00000) Rank: 50/87 |
Buenos Aires (BAR) | 2048.0 | — | 214.5 | 0.08676 (±0.00000) Rank: 49/87 |
0.17443 (±0.00000) Rank: 49/87 |
Cambridge (CAM) | 2045.0 | — | 219.8 | 0.12397 (±0.00000) Rank: 49/87 |
0.22808 (±0.00000) Rank: 49/87 |
Cannes (CAN) | 2048.0 | — | 292.0 | 0.18802 (±0.00000) Rank: 48/87 |
0.28433 (±0.00000) Rank: 49/87 |
Chicago (CHI) | 2042.9 | — | 44.6 | 0.03661 (±0.00000) Rank: 49/87 |
0.08327 (±0.00000) Rank: 48/87 |
Helsinki (HEL) | 2048.0 | — | 405.7 | 0.18144 (±0.00000) Rank: 46/87 |
0.31933 (±0.00000) Rank: 46/87 |
Madrid (MAD) | 2048.0 | — | 139.7 | 0.01945 (±0.00000) Rank: 50/87 |
0.06079 (±0.00000) Rank: 50/87 |
Mountain View (MTV) | 2048.0 | — | 145.7 | 0.04297 (±0.00000) Rank: 50/87 |
0.08711 (±0.00000) Rank: 50/87 |
New Orleans (NOR) | 2048.0 | — | 141.4 | 0.11657 (±0.00000) Rank: 48/87 |
0.16982 (±0.00000) Rank: 48/87 |
San Francisco (SF) | 2048.0 | — | 197.4 | 0.08031 (±0.00000) Rank: 48/87 |
0.16719 (±0.00000) Rank: 48/87 |
Singapore (SG) | 2042.4 | — | 191.8 | 0.07975 (±0.00000) Rank: 50/87 |
0.15696 (±0.00000) Rank: 50/87 |
Sydney (SYD) | 2048.0 | — | 155.1 | 0.06900 (±0.00000) Rank: 50/87 |
0.13537 (±0.00000) Rank: 50/87 |
Tokyo (TOK) | 2048.0 | — | 207.4 | 0.19412 (±0.00000) Rank: 50/87 |
0.29534 (±0.00000) Rank: 50/87 |
Toronto (TOR) | 2048.0 | — | 86.7 | 0.04960 (±0.00000) Rank: 50/87 |
0.11440 (±0.00000) Rank: 50/87 |
Zurich (ZRH) | 2048.0 | — | 201.8 | 0.13265 (±0.00000) Rank: 49/87 |
0.20000 (±0.00000) Rank: 49/87 |
Average (Avg) | 2047.2 | — | 199.8 | 0.09224 (±0.00000) Rank: 49/87 |
0.16857 (±0.00000) Rank: 49/87 |
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/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09247 over 17 scenes)
Rank (per category): 48 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 145.46 | 78.13 Rank: 43/87 |
1125.98 Rank: 37/87 |
3.664 Rank: 40/87 |
20.56605 Rank: 9/87 |
0.20939 (±0.00000) Rank: 45/87 |
0.27508 (±0.00000) Rank: 45/87 |
BGK | 2048.0 | 224.80 | 91.60 Rank: 45/87 |
2123.01 Rank: 30/87 |
3.871 Rank: 4/87 |
12.69471 Rank: 19/87 |
0.01504 (±0.00000) Rank: 49/87 |
0.05293 (±0.00000) Rank: 49/87 |
BCN | 2048.0 | 77.50 | 69.16 Rank: 47/87 |
499.88 Rank: 46/87 |
3.624 Rank: 38/87 |
23.18466 Rank: 12/87 |
0.06324 (±0.00000) Rank: 49/87 |
0.09927 (±0.00000) Rank: 49/87 |
BAR | 2048.0 | 111.82 | 67.64 Rank: 44/87 |
748.63 Rank: 40/87 |
3.175 Rank: 42/87 |
11.31518 Rank: 7/87 |
0.03513 (±0.00000) Rank: 49/87 |
0.07330 (±0.00000) Rank: 49/87 |
CAM | 2045.0 | 122.61 | 73.59 Rank: 45/87 |
945.80 Rank: 34/87 |
3.651 Rank: 6/87 |
20.28191 Rank: 11/87 |
0.10958 (±0.00000) Rank: 44/87 |
0.15893 (±0.00000) Rank: 46/87 |
CAN | 2048.0 | 151.92 | 67.88 Rank: 41/87 |
716.03 Rank: 31/87 |
3.427 Rank: 34/87 |
16.62258 Rank: 17/87 |
0.01819 (±0.00000) Rank: 48/87 |
0.04727 (±0.00000) Rank: 46/87 |
CHI | 2042.9 | 35.82 | 64.35 Rank: 48/87 |
255.75 Rank: 43/87 |
3.790 Rank: 48/87 |
41.62939 Rank: 7/87 |
0.02241 (±0.00000) Rank: 45/87 |
0.05478 (±0.00000) Rank: 46/87 |
HEL | 2048.0 | 282.05 | 86.50 Rank: 48/87 |
2004.96 Rank: 34/87 |
3.899 Rank: 40/87 |
10.24662 Rank: 5/87 |
0.15851 (±0.00000) Rank: 47/87 |
0.25948 (±0.00000) Rank: 47/87 |
MAD | 2048.0 | 79.89 | 76.01 Rank: 45/87 |
851.35 Rank: 40/87 |
3.389 Rank: 5/87 |
2.70361 Rank: 2/87 |
0.02975 (±0.00000) Rank: 45/87 |
0.07164 (±0.00000) Rank: 45/87 |
MTV | 2048.0 | 100.57 | 75.50 Rank: 47/87 |
880.46 Rank: 38/87 |
3.646 Rank: 45/87 |
13.46266 Rank: 7/87 |
0.08627 (±0.00000) Rank: 48/87 |
0.15961 (±0.00000) Rank: 48/87 |
NOR | 2048.0 | 88.80 | 58.62 Rank: 44/87 |
584.45 Rank: 37/87 |
3.206 Rank: 37/87 |
7.19575 Rank: 7/87 |
0.05616 (±0.00000) Rank: 49/87 |
0.09012 (±0.00000) Rank: 46/87 |
SF | 2048.0 | 115.03 | 78.20 Rank: 45/87 |
975.66 Rank: 36/87 |
3.475 Rank: 43/87 |
15.02120 Rank: 9/87 |
0.12728 (±0.00000) Rank: 43/87 |
0.20571 (±0.00000) Rank: 43/87 |
SG | 2042.4 | 112.17 | 57.94 Rank: 49/87 |
501.27 Rank: 46/87 |
3.190 Rank: 39/87 |
11.68994 Rank: 5/87 |
0.03485 (±0.00000) Rank: 48/87 |
0.06171 (±0.00000) Rank: 48/87 |
SYD | 2048.0 | 84.58 | 70.69 Rank: 44/87 |
522.32 Rank: 45/87 |
3.417 Rank: 34/87 |
12.32157 Rank: 10/87 |
0.11774 (±0.00000) Rank: 45/87 |
0.18365 (±0.00000) Rank: 44/87 |
TOK | 2048.0 | 123.93 | 76.49 Rank: 49/87 |
1134.34 Rank: 45/87 |
3.741 Rank: 22/87 |
10.04554 Rank: 6/87 |
0.28435 (±0.00000) Rank: 49/87 |
0.35451 (±0.00000) Rank: 49/87 |
TOR | 2048.0 | 45.13 | 62.56 Rank: 47/87 |
377.64 Rank: 46/87 |
3.146 Rank: 40/87 |
8.78801 Rank: 6/87 |
0.01832 (±0.00000) Rank: 49/87 |
0.04336 (±0.00000) Rank: 49/87 |
ZRH | 2048.0 | 110.01 | 65.62 Rank: 48/87 |
881.80 Rank: 44/87 |
3.317 Rank: 39/87 |
13.46143 Rank: 6/87 |
0.01700 (±0.00000) Rank: 48/87 |
0.04573 (±0.00000) Rank: 48/87 |
Avg | 2047.2 | 118.36 | 71.79 Rank: 45/87 |
889.96 Rank: 38/87 |
3.507 Rank: 38/87 |
14.77828 Rank: 8/87 |
0.08254 (±0.00000) Rank: 48/87 |
0.13159 (±0.00000) Rank: 48/87 |
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/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7152af1f97c7dbd0-cassius-2k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)