Submission ID: 7b1769c7
KORNIA TUTORIAL CV-DoG-AffNet-HardNet8
Processed: 21-05-15. Download link: 7b1769c7167d5bad-dog-affnet-hardnet8-degensac.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: Dmytro Mishkin, Milan Pultar and kornia team (contact)
- Keypoint: cv2dog
- Descriptor: affnethardnet8 (128 float32: 512 bytes)
- Number of features: 8000
- Summary: OpeCV SIFT keypoints 8000 features, followed by the AffNet normalization and HardNet8 descriptor as implemented in kornia. Matched using the built-in matcher (bidirectional filter with the both strategy, hopefully optimal inlier and ratio test thresholds) with DEGENSAC
- Paper: https://arxiv.org/abs/2007.09699
- Website: https://github.com/kornia/kornia
- Processing date: 21-05-15
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.55738 (±0.00000 over 1 run(s) / ±0.14399 over 9 scenes)
Rank (per category): 19 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7969.3 | 596.1 | 405.8 | 0.526 Rank: 38/51 |
0.946 Rank: 13/51 |
0.22733 (±0.00000) Rank: 30/51 |
0.34565 (±0.00000) Rank: 30/51 |
FCS | 7876.6 | 460.3 | 323.7 | 0.443 Rank: 39/51 |
0.944 Rank: 2/51 |
0.63138 (±0.00000) Rank: 24/51 |
0.74707 (±0.00000) Rank: 25/51 |
LMS | 7773.0 | 381.9 | 200.5 | 0.465 Rank: 28/51 |
0.681 Rank: 25/51 |
0.54552 (±0.00000) Rank: 25/51 |
0.67808 (±0.00000) Rank: 24/51 |
LB | 7958.1 | 352.6 | 217.8 | 0.472 Rank: 37/51 |
0.805 Rank: 2/51 |
0.52184 (±0.00000) Rank: 30/51 |
0.62384 (±0.00000) Rank: 17/51 |
MC | 7828.2 | 538.9 | 373.6 | 0.525 Rank: 43/51 |
0.965 Rank: 4/51 |
0.40365 (±0.00000) Rank: 30/51 |
0.55518 (±0.00000) Rank: 21/51 |
MR | 7795.9 | 533.6 | 388.0 | 0.457 Rank: 43/51 |
0.977 Rank: 2/51 |
0.33534 (±0.00000) Rank: 13/51 |
0.44787 (±0.00000) Rank: 13/51 |
PSM | 7811.8 | 259.7 | 167.8 | 0.385 Rank: 46/51 |
0.778 Rank: 6/51 |
0.18570 (±0.00000) Rank: 22/51 |
0.31771 (±0.00000) Rank: 19/51 |
SF | 7900.7 | 675.1 | 458.0 | 0.479 Rank: 36/51 |
0.898 Rank: 2/51 |
0.52012 (±0.00000) Rank: 25/51 |
0.65342 (±0.00000) Rank: 23/51 |
SPC | 7871.1 | 540.6 | 349.2 | 0.487 Rank: 40/51 |
0.903 Rank: 1/51 |
0.49252 (±0.00000) Rank: 16/51 |
0.64761 (±0.00000) Rank: 15/51 |
Avg | 7865.0 | 482.1 | 320.5 | 0.471 Rank: 43/51 |
0.877 Rank: 1/51 |
0.42927 (±0.00000) Rank: 20/51 |
0.55738 (±0.00000) Rank: 19/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13313 over 9 scenes)
Rank (per category): 24 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7969.3 | 831.36 | 99.93 Rank: 12/51 |
4220.06 Rank: 19/51 |
4.722 Rank: 37/51 |
0.48906 Rank: 32/51 |
0.47829 (±0.00000) Rank: 28/51 |
0.62473 (±0.00000) Rank: 27/51 |
FCS | 7876.6 | 662.86 | 98.28 Rank: 18/51 |
4743.68 Rank: 28/51 |
4.266 Rank: 35/51 |
0.25021 Rank: 23/51 |
0.75043 (±0.00000) Rank: 18/51 |
0.80631 (±0.00000) Rank: 19/51 |
LMS | 7773.0 | 654.93 | 99.40 Rank: 14/51 |
4356.13 Rank: 19/51 |
4.274 Rank: 35/51 |
0.27686 Rank: 7/51 |
0.85166 (±0.00000) Rank: 7/51 |
0.90530 (±0.00000) Rank: 5/51 |
LB | 7958.1 | 639.74 | 98.03 Rank: 24/51 |
3710.81 Rank: 24/51 |
4.357 Rank: 37/51 |
0.48125 Rank: 21/51 |
0.69277 (±0.00000) Rank: 27/51 |
0.78280 (±0.00000) Rank: 27/51 |
MC | 7828.2 | 738.14 | 99.81 Rank: 26/51 |
4418.89 Rank: 32/51 |
4.536 Rank: 38/51 |
0.40640 Rank: 38/51 |
0.51422 (±0.00000) Rank: 36/51 |
0.65594 (±0.00000) Rank: 36/51 |
MR | 7795.9 | 699.05 | 95.01 Rank: 21/51 |
4807.05 Rank: 29/51 |
4.123 Rank: 39/51 |
0.48528 Rank: 19/51 |
0.46407 (±0.00000) Rank: 18/51 |
0.57517 (±0.00000) Rank: 18/51 |
PSM | 7811.8 | 439.09 | 97.20 Rank: 25/51 |
4400.74 Rank: 27/51 |
3.237 Rank: 37/51 |
0.55776 Rank: 31/51 |
0.41638 (±0.00000) Rank: 33/51 |
0.49997 (±0.00000) Rank: 33/51 |
SF | 7900.7 | 864.95 | 99.68 Rank: 13/51 |
5965.81 Rank: 27/51 |
4.436 Rank: 34/51 |
0.30046 Rank: 20/51 |
0.76165 (±0.00000) Rank: 18/51 |
0.84577 (±0.00000) Rank: 17/51 |
SPC | 7871.1 | 817.23 | 100.00 Rank: 1/51 |
5184.35 Rank: 19/51 |
4.537 Rank: 30/51 |
0.43112 Rank: 13/51 |
0.75515 (±0.00000) Rank: 6/51 |
0.84577 (±0.00000) Rank: 5/51 |
Avg | 7865.0 | 705.26 | 98.59 Rank: 21/51 |
4645.28 Rank: 24/51 |
4.276 Rank: 35/51 |
0.40871 Rank: 25/51 |
0.63162 (±0.00000) Rank: 22/51 |
0.72686 (±0.00000) Rank: 24/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.59773 (±0.00000 over 1 run(s) / ±0.04042 over 3 scenes)
Rank (per category): 25 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | 240.6 | 225.0 | 0.121 Rank: 20/51 |
0.007 Rank: 38/51 |
0.42080 (±0.00000) Rank: 21/51 |
0.54313 (±0.00000) Rank: 22/51 |
Pond | 8000.0 | 349.7 | 299.6 | 0.152 Rank: 18/51 |
0.057 Rank: 7/51 |
0.51102 (±0.00000) Rank: 20/51 |
0.63968 (±0.00000) Rank: 24/51 |
Tree | 8000.0 | 175.7 | 153.3 | 0.106 Rank: 27/51 |
0.019 Rank: 30/51 |
0.50728 (±0.00000) Rank: 27/51 |
0.61038 (±0.00000) Rank: 26/51 |
Avg | 8000.0 | 255.3 | 226.0 | 0.126 Rank: 18/51 |
0.027 Rank: 24/51 |
0.47970 (±0.00000) Rank: 23/51 |
0.59773 (±0.00000) Rank: 25/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14800 over 3 scenes)
Rank (per category): 23 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 382.87 | 84.00 Rank: 23/51 |
962.65 Rank: 32/51 |
3.144 Rank: 29/51 |
13.75632 Rank: 9/51 |
0.56724 (±0.00000) Rank: 12/51 |
0.64787 (±0.00000) Rank: 16/51 |
Pond | 8000.0 | 614.45 | 69.13 Rank: 23/51 |
1326.05 Rank: 32/51 |
2.841 Rank: 29/51 |
0.42698 Rank: 15/51 |
0.25042 (±0.00000) Rank: 28/51 |
0.28536 (±0.00000) Rank: 27/51 |
Tree | 8000.0 | 375.94 | 70.63 Rank: 28/51 |
669.72 Rank: 37/51 |
2.822 Rank: 32/51 |
5.40654 Rank: 5/51 |
0.43222 (±0.00000) Rank: 25/51 |
0.46767 (±0.00000) Rank: 23/51 |
Avg | 8000.0 | 457.75 | 74.59 Rank: 27/51 |
986.14 Rank: 32/51 |
2.935 Rank: 30/51 |
6.52995 Rank: 7/51 |
0.41663 (±0.00000) Rank: 23/51 |
0.46696 (±0.00000) Rank: 23/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.30094 (±0.00000 over 1 run(s) / ±0.12480 over 17 scenes)
Rank (per category): 18 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 6126.2 | 183.6 | 136.5 | 0.18304 (±0.00000) Rank: 20/51 |
0.29598 (±0.00000) Rank: 21/51 |
Bangkok (BGK) | 6403.9 | 168.0 | 122.7 | 0.05856 (±0.00000) Rank: 19/51 |
0.16476 (±0.00000) Rank: 17/51 |
Barcelona (BCN) | 5657.4 | 126.0 | 90.8 | 0.11136 (±0.00000) Rank: 18/51 |
0.17546 (±0.00000) Rank: 21/51 |
Buenos Aires (BAR) | 6586.7 | 192.0 | 142.8 | 0.17534 (±0.00000) Rank: 20/51 |
0.30137 (±0.00000) Rank: 18/51 |
Cambridge (CAM) | 6200.9 | 116.2 | 76.6 | 0.21027 (±0.00000) Rank: 20/51 |
0.32158 (±0.00000) Rank: 22/51 |
Cannes (CAN) | 5862.6 | 169.9 | 106.2 | 0.35484 (±0.00000) Rank: 19/51 |
0.44608 (±0.00000) Rank: 18/51 |
Chicago (CHI) | 5709.0 | 62.9 | 33.9 | 0.07801 (±0.00000) Rank: 20/51 |
0.13490 (±0.00000) Rank: 20/51 |
Helsinki (HEL) | 6653.0 | 254.4 | 171.0 | 0.34845 (±0.00000) Rank: 17/51 |
0.54124 (±0.00000) Rank: 18/51 |
Madrid (MAD) | 7031.3 | 125.8 | 87.2 | 0.06930 (±0.00000) Rank: 12/51 |
0.16292 (±0.00000) Rank: 12/51 |
Mountain View (MTV) | 6280.8 | 105.2 | 67.3 | 0.14180 (±0.00000) Rank: 19/51 |
0.23555 (±0.00000) Rank: 18/51 |
New Orleans (NOR) | 6235.4 | 126.2 | 80.9 | 0.19763 (±0.00000) Rank: 19/51 |
0.26213 (±0.00000) Rank: 19/51 |
San Francisco (SF) | 6356.8 | 145.7 | 103.9 | 0.09449 (±0.00000) Rank: 22/51 |
0.20525 (±0.00000) Rank: 22/51 |
Singapore (SG) | 7303.6 | 168.5 | 101.6 | 0.25190 (±0.00000) Rank: 14/51 |
0.35791 (±0.00000) Rank: 14/51 |
Sydney (SYD) | 6676.7 | 148.1 | 93.7 | 0.22445 (±0.00000) Rank: 19/51 |
0.35459 (±0.00000) Rank: 18/51 |
Tokyo (TOK) | 6592.6 | 189.0 | 109.2 | 0.45098 (±0.00000) Rank: 18/51 |
0.58676 (±0.00000) Rank: 18/51 |
Toronto (TOR) | 7153.6 | 102.0 | 57.6 | 0.14560 (±0.00000) Rank: 17/51 |
0.25880 (±0.00000) Rank: 18/51 |
Zurich (ZRH) | 6010.7 | 161.4 | 117.3 | 0.23780 (±0.00000) Rank: 16/51 |
0.31065 (±0.00000) Rank: 17/51 |
Average (Avg) | 6402.4 | 149.7 | 100.0 | 0.19611 (±0.00000) Rank: 18/51 |
0.30094 (±0.00000) Rank: 18/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13167 over 17 scenes)
Rank (per category): 21 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 6126.2 | 245.40 | 78.46 Rank: 23/51 |
1248.16 Rank: 25/51 |
3.004 Rank: 25/51 |
22.21845 Rank: 12/51 |
0.16999 (±0.00000) Rank: 24/51 |
0.24821 (±0.00000) Rank: 24/51 |
BGK | 6403.9 | 260.95 | 90.93 Rank: 23/51 |
1717.49 Rank: 22/51 |
3.090 Rank: 26/51 |
13.02547 Rank: 13/51 |
0.03299 (±0.00000) Rank: 4/51 |
0.08865 (±0.00000) Rank: 8/51 |
BCN | 5657.4 | 187.97 | 72.33 Rank: 25/51 |
659.34 Rank: 24/51 |
3.000 Rank: 27/51 |
21.75118 Rank: 3/51 |
0.09413 (±0.00000) Rank: 17/51 |
0.14120 (±0.00000) Rank: 18/51 |
BAR | 6586.7 | 243.06 | 64.29 Rank: 22/51 |
728.43 Rank: 24/51 |
2.819 Rank: 24/51 |
9.20875 Rank: 5/51 |
0.05899 (±0.00000) Rank: 19/51 |
0.10647 (±0.00000) Rank: 19/51 |
CAM | 6200.9 | 204.67 | 61.73 Rank: 25/51 |
760.09 Rank: 25/51 |
2.665 Rank: 28/51 |
14.90405 Rank: 5/51 |
0.10581 (±0.00000) Rank: 20/51 |
0.14641 (±0.00000) Rank: 21/51 |
CAN | 5862.6 | 229.85 | 47.47 Rank: 26/51 |
268.48 Rank: 27/51 |
2.592 Rank: 28/51 |
6.92789 Rank: 2/51 |
0.01823 (±0.00000) Rank: 22/51 |
0.02928 (±0.00000) Rank: 24/51 |
CHI | 5709.0 | 163.84 | 73.19 Rank: 21/51 |
460.62 Rank: 19/51 |
3.138 Rank: 24/51 |
43.92775 Rank: 12/51 |
0.01792 (±0.00000) Rank: 21/51 |
0.03854 (±0.00000) Rank: 22/51 |
HEL | 6653.0 | 358.46 | 91.95 Rank: 13/51 |
2529.72 Rank: 18/51 |
2.987 Rank: 27/51 |
12.50885 Rank: 12/51 |
0.28390 (±0.00000) Rank: 11/51 |
0.44680 (±0.00000) Rank: 4/51 |
MAD | 7031.3 | 241.59 | 80.77 Rank: 18/51 |
1148.30 Rank: 20/51 |
2.924 Rank: 26/51 |
6.00325 Rank: 21/51 |
0.03818 (±0.00000) Rank: 18/51 |
0.09648 (±0.00000) Rank: 15/51 |
MTV | 6280.8 | 211.97 | 77.50 Rank: 24/51 |
917.70 Rank: 22/51 |
2.955 Rank: 24/51 |
12.52790 Rank: 5/51 |
0.11161 (±0.00000) Rank: 22/51 |
0.18630 (±0.00000) Rank: 23/51 |
NOR | 6235.4 | 222.94 | 50.99 Rank: 24/51 |
412.71 Rank: 24/51 |
2.610 Rank: 25/51 |
5.23375 Rank: 4/51 |
0.05048 (±0.00000) Rank: 24/51 |
0.07447 (±0.00000) Rank: 25/51 |
SF | 6356.8 | 224.72 | 73.23 Rank: 23/51 |
859.91 Rank: 24/51 |
2.883 Rank: 24/51 |
13.56619 Rank: 9/51 |
0.06437 (±0.00000) Rank: 24/51 |
0.12017 (±0.00000) Rank: 24/51 |
SG | 7303.6 | 279.64 | 64.50 Rank: 18/51 |
786.93 Rank: 18/51 |
2.772 Rank: 26/51 |
14.13982 Rank: 11/51 |
0.09694 (±0.00000) Rank: 16/51 |
0.14229 (±0.00000) Rank: 15/51 |
SYD | 6676.7 | 246.32 | 68.53 Rank: 23/51 |
746.72 Rank: 17/51 |
2.718 Rank: 26/51 |
9.92851 Rank: 6/51 |
0.10727 (±0.00000) Rank: 21/51 |
0.16468 (±0.00000) Rank: 21/51 |
TOK | 6592.6 | 288.11 | 84.43 Rank: 16/51 |
1848.10 Rank: 16/51 |
2.934 Rank: 26/51 |
12.34467 Rank: 16/51 |
0.47213 (±0.00000) Rank: 12/51 |
0.54159 (±0.00000) Rank: 13/51 |
TOR | 7153.6 | 224.85 | 64.11 Rank: 25/51 |
678.89 Rank: 18/51 |
2.596 Rank: 28/51 |
11.99946 Rank: 11/51 |
0.06508 (±0.00000) Rank: 19/51 |
0.12020 (±0.00000) Rank: 19/51 |
ZRH | 6010.7 | 222.85 | 73.62 Rank: 19/51 |
1094.62 Rank: 23/51 |
2.755 Rank: 27/51 |
15.56291 Rank: 11/51 |
0.05556 (±0.00000) Rank: 16/51 |
0.10077 (±0.00000) Rank: 18/51 |
Avg | 6402.4 | 238.66 | 71.65 Rank: 23/51 |
992.13 Rank: 21/51 |
2.849 Rank: 26/51 |
14.45758 Rank: 7/51 |
0.10844 (±0.00000) Rank: 21/51 |
0.16427 (±0.00000) Rank: 21/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7b1769c7167d5bad-dog-affnet-hardnet8-degensac/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)