Submission ID: 7d4566cd
HarrisZ improved, Blob DTM
Processed: 21-06-16. Download link: 7d4566cd6c2dbf3e-harrisz-8k-blobdtm.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: Fabio Bellavia and Dmytro Mishkin (contact)
- Keypoint: hzbnn22l05m8k2l
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Baseline submission for HarrisZ detector evaluation with Blob DTM matcher (descriptor: AffNet+HardNet8, RANSAC: DEGENSAC)
- Paper: https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2009.0127
- Website: N/A
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.55152 (±0.00000 over 1 run(s) / ±0.14497 over 9 scenes)
Rank (per category): 22 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 5924.1 | — | 763.3 | 0.641 Rank: 20/51 |
0.901 Rank: 34/51 |
0.25829 (±0.00000) Rank: 21/51 |
0.38276 (±0.00000) Rank: 21/51 |
FCS | 7673.2 | — | 1054.1 | 0.522 Rank: 14/51 |
0.906 Rank: 14/51 |
0.62400 (±0.00000) Rank: 26/51 |
0.74307 (±0.00000) Rank: 26/51 |
LMS | 5167.7 | — | 793.1 | 0.519 Rank: 20/51 |
0.689 Rank: 20/51 |
0.56087 (±0.00000) Rank: 22/51 |
0.68958 (±0.00000) Rank: 20/51 |
LB | 7137.0 | — | 674.9 | 0.531 Rank: 24/51 |
0.767 Rank: 11/51 |
0.51707 (±0.00000) Rank: 21/51 |
0.62009 (±0.00000) Rank: 18/51 |
MC | 7683.4 | — | 1121.1 | 0.627 Rank: 20/51 |
0.924 Rank: 20/51 |
0.40705 (±0.00000) Rank: 21/51 |
0.55693 (±0.00000) Rank: 20/51 |
MR | 7601.6 | — | 1024.1 | 0.536 Rank: 25/51 |
0.924 Rank: 29/51 |
0.30104 (±0.00000) Rank: 27/51 |
0.41268 (±0.00000) Rank: 27/51 |
PSM | 7643.2 | — | 629.9 | 0.476 Rank: 20/51 |
0.670 Rank: 21/51 |
0.17250 (±0.00000) Rank: 25/51 |
0.29277 (±0.00000) Rank: 26/51 |
SF | 7832.8 | — | 1143.1 | 0.513 Rank: 22/51 |
0.859 Rank: 10/51 |
0.52021 (±0.00000) Rank: 24/51 |
0.65188 (±0.00000) Rank: 24/51 |
SPC | 7118.8 | — | 805.5 | 0.568 Rank: 20/51 |
0.854 Rank: 18/51 |
0.45657 (±0.00000) Rank: 23/51 |
0.61394 (±0.00000) Rank: 25/51 |
Avg | 7086.9 | — | 889.9 | 0.548 Rank: 20/51 |
0.833 Rank: 23/51 |
0.42418 (±0.00000) Rank: 24/51 |
0.55152 (±0.00000) Rank: 22/51 |
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/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10796 over 9 scenes)
Rank (per category): 10 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 5924.1 | 763.81 | 99.61 Rank: 37/51 |
2720.78 Rank: 36/51 |
5.354 Rank: 16/51 |
0.44838 Rank: 23/51 |
0.53997 (±0.00000) Rank: 11/51 |
0.67648 (±0.00000) Rank: 12/51 |
FCS | 7673.2 | 1103.24 | 99.06 Rank: 6/51 |
5664.14 Rank: 25/51 |
4.894 Rank: 17/51 |
0.22294 Rank: 10/51 |
0.76036 (±0.00000) Rank: 17/51 |
0.82034 (±0.00000) Rank: 16/51 |
LMS | 5167.7 | 855.88 | 99.20 Rank: 23/51 |
2870.69 Rank: 28/51 |
5.312 Rank: 10/51 |
0.27487 Rank: 5/51 |
0.84958 (±0.00000) Rank: 10/51 |
0.89962 (±0.00000) Rank: 13/51 |
LB | 7137.0 | 827.52 | 98.23 Rank: 11/51 |
3307.62 Rank: 30/51 |
5.073 Rank: 20/51 |
0.45359 Rank: 3/51 |
0.76958 (±0.00000) Rank: 2/51 |
0.84044 (±0.00000) Rank: 2/51 |
MC | 7683.4 | 1100.53 | 100.00 Rank: 1/51 |
4669.93 Rank: 23/51 |
5.364 Rank: 18/51 |
0.34472 Rank: 17/51 |
0.57817 (±0.00000) Rank: 7/51 |
0.71390 (±0.00000) Rank: 9/51 |
MR | 7601.6 | 1023.68 | 95.13 Rank: 16/51 |
5133.82 Rank: 27/51 |
4.596 Rank: 25/51 |
0.44651 Rank: 2/51 |
0.48117 (±0.00000) Rank: 7/51 |
0.59577 (±0.00000) Rank: 11/51 |
PSM | 7643.2 | 624.34 | 98.53 Rank: 17/51 |
6096.31 Rank: 21/51 |
3.775 Rank: 24/51 |
0.47815 Rank: 22/51 |
0.51567 (±0.00000) Rank: 19/51 |
0.60485 (±0.00000) Rank: 19/51 |
SF | 7832.8 | 1122.64 | 99.48 Rank: 17/51 |
6035.19 Rank: 26/51 |
4.868 Rank: 23/51 |
0.29300 Rank: 16/51 |
0.76642 (±0.00000) Rank: 16/51 |
0.84958 (±0.00000) Rank: 16/51 |
SPC | 7118.8 | 835.34 | 100.00 Rank: 1/51 |
4229.86 Rank: 26/51 |
5.020 Rank: 20/51 |
0.43736 Rank: 16/51 |
0.74976 (±0.00000) Rank: 9/51 |
0.84438 (±0.00000) Rank: 8/51 |
Avg | 7086.9 | 917.44 | 98.81 Rank: 12/51 |
4525.37 Rank: 26/51 |
4.918 Rank: 17/51 |
0.37773 Rank: 14/51 |
0.66785 (±0.00000) Rank: 7/51 |
0.76060 (±0.00000) Rank: 10/51 |
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/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.73878 (±0.00000 over 1 run(s) / ±0.06036 over 3 scenes)
Rank (per category): 10 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 1289.5 | 0.084 Rank: 34/51 |
0.010 Rank: 26/51 |
0.57254 (±0.00000) Rank: 10/51 |
0.69931 (±0.00000) Rank: 10/51 |
Pond | 8000.0 | — | 1335.0 | 0.108 Rank: 29/51 |
0.049 Rank: 28/51 |
0.57395 (±0.00000) Rank: 7/51 |
0.69299 (±0.00000) Rank: 9/51 |
Tree | 8000.0 | — | 952.9 | 0.084 Rank: 34/51 |
0.022 Rank: 10/51 |
0.73819 (±0.00000) Rank: 13/51 |
0.82406 (±0.00000) Rank: 13/51 |
Avg | 8000.0 | — | 1192.5 | 0.092 Rank: 34/51 |
0.027 Rank: 31/51 |
0.62823 (±0.00000) Rank: 10/51 |
0.73878 (±0.00000) Rank: 10/51 |
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/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14911 over 3 scenes)
Rank (per category): 10 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 1521.00 | 85.30 Rank: 4/51 |
3153.46 Rank: 10/51 |
3.434 Rank: 11/51 |
14.23737 Rank: 30/51 |
0.57564 (±0.00000) Rank: 10/51 |
0.66230 (±0.00000) Rank: 10/51 |
Pond | 8000.0 | 1962.16 | 70.20 Rank: 18/51 |
3325.31 Rank: 9/51 |
3.113 Rank: 11/51 |
0.43301 Rank: 22/51 |
0.26696 (±0.00000) Rank: 19/51 |
0.29739 (±0.00000) Rank: 20/51 |
Tree | 8000.0 | 1075.17 | 70.94 Rank: 25/51 |
1707.90 Rank: 12/51 |
3.001 Rank: 16/51 |
6.34527 Rank: 35/51 |
0.46120 (±0.00000) Rank: 12/51 |
0.49332 (±0.00000) Rank: 13/51 |
Avg | 8000.0 | 1519.44 | 75.48 Rank: 12/51 |
2728.89 Rank: 9/51 |
3.182 Rank: 11/51 |
7.00522 Rank: 36/51 |
0.43460 (±0.00000) Rank: 9/51 |
0.48434 (±0.00000) Rank: 10/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.33435 (±0.00000 over 1 run(s) / ±0.11558 over 17 scenes)
Rank (per category): 14 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4306.7 | — | 394.9 | 0.21161 (±0.00000) Rank: 18/51 |
0.35357 (±0.00000) Rank: 16/51 |
Bangkok (BGK) | 3087.8 | — | 342.4 | 0.06055 (±0.00000) Rank: 16/51 |
0.16476 (±0.00000) Rank: 16/51 |
Barcelona (BCN) | 4576.9 | — | 308.6 | 0.15238 (±0.00000) Rank: 2/51 |
0.24322 (±0.00000) Rank: 2/51 |
Buenos Aires (BAR) | 3994.0 | — | 337.9 | 0.19726 (±0.00000) Rank: 18/51 |
0.32237 (±0.00000) Rank: 15/51 |
Cambridge (CAM) | 2981.6 | — | 242.5 | 0.24452 (±0.00000) Rank: 18/51 |
0.37397 (±0.00000) Rank: 15/51 |
Cannes (CAN) | 3345.9 | — | 356.2 | 0.36866 (±0.00000) Rank: 17/51 |
0.45991 (±0.00000) Rank: 17/51 |
Chicago (CHI) | 4274.9 | — | 194.0 | 0.16462 (±0.00000) Rank: 13/51 |
0.25143 (±0.00000) Rank: 13/51 |
Helsinki (HEL) | 3348.7 | — | 516.7 | 0.35155 (±0.00000) Rank: 16/51 |
0.56160 (±0.00000) Rank: 15/51 |
Madrid (MAD) | 3668.0 | — | 173.2 | 0.06809 (±0.00000) Rank: 13/51 |
0.15714 (±0.00000) Rank: 13/51 |
Mountain View (MTV) | 3896.6 | — | 194.7 | 0.17734 (±0.00000) Rank: 14/51 |
0.29590 (±0.00000) Rank: 12/51 |
New Orleans (NOR) | 3534.6 | — | 217.1 | 0.21953 (±0.00000) Rank: 17/51 |
0.29615 (±0.00000) Rank: 16/51 |
San Francisco (SF) | 3314.3 | — | 314.0 | 0.17375 (±0.00000) Rank: 12/51 |
0.31234 (±0.00000) Rank: 12/51 |
Singapore (SG) | 2854.6 | — | 281.2 | 0.23038 (±0.00000) Rank: 17/51 |
0.31930 (±0.00000) Rank: 19/51 |
Sydney (SYD) | 3081.6 | — | 260.7 | 0.24367 (±0.00000) Rank: 17/51 |
0.36594 (±0.00000) Rank: 16/51 |
Tokyo (TOK) | 3047.8 | — | 332.2 | 0.46912 (±0.00000) Rank: 13/51 |
0.60637 (±0.00000) Rank: 14/51 |
Toronto (TOR) | 3514.5 | — | 147.9 | 0.13520 (±0.00000) Rank: 19/51 |
0.27480 (±0.00000) Rank: 15/51 |
Zurich (ZRH) | 4168.4 | — | 390.2 | 0.25498 (±0.00000) Rank: 7/51 |
0.32509 (±0.00000) Rank: 14/51 |
Average (Avg) | 3588.0 | — | 294.4 | 0.21901 (±0.00000) Rank: 15/51 |
0.33435 (±0.00000) Rank: 14/51 |
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/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12377 over 17 scenes)
Rank (per category): 14 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4306.7 | 240.01 | 82.56 Rank: 18/51 |
1372.07 Rank: 24/51 |
3.423 Rank: 17/51 |
21.20051 Rank: 10/51 |
0.24345 (±0.00000) Rank: 18/51 |
0.32189 (±0.00000) Rank: 18/51 |
BGK | 3087.8 | 226.09 | 91.73 Rank: 21/51 |
1723.74 Rank: 21/51 |
3.504 Rank: 16/51 |
13.09105 Rank: 14/51 |
0.02199 (±0.00000) Rank: 18/51 |
0.07168 (±0.00000) Rank: 20/51 |
BCN | 4576.9 | 176.68 | 77.87 Rank: 16/51 |
1035.07 Rank: 20/51 |
3.431 Rank: 10/51 |
27.63756 Rank: 20/51 |
0.13145 (±0.00000) Rank: 12/51 |
0.20512 (±0.00000) Rank: 12/51 |
BAR | 3994.0 | 187.66 | 74.79 Rank: 13/51 |
877.05 Rank: 19/51 |
3.104 Rank: 13/51 |
13.76350 Rank: 15/51 |
0.11639 (±0.00000) Rank: 12/51 |
0.18549 (±0.00000) Rank: 12/51 |
CAM | 2981.6 | 146.28 | 77.78 Rank: 14/51 |
870.20 Rank: 20/51 |
3.140 Rank: 16/51 |
25.03878 Rank: 18/51 |
0.11228 (±0.00000) Rank: 18/51 |
0.16932 (±0.00000) Rank: 18/51 |
CAN | 3345.9 | 193.51 | 63.27 Rank: 18/51 |
517.17 Rank: 18/51 |
3.147 Rank: 18/51 |
15.14940 Rank: 15/51 |
0.03713 (±0.00000) Rank: 15/51 |
0.05733 (±0.00000) Rank: 18/51 |
CHI | 4274.9 | 170.78 | 84.94 Rank: 14/51 |
489.69 Rank: 18/51 |
4.401 Rank: 16/51 |
45.78248 Rank: 17/51 |
0.09151 (±0.00000) Rank: 15/51 |
0.17206 (±0.00000) Rank: 14/51 |
HEL | 3348.7 | 365.47 | 90.81 Rank: 18/51 |
2089.15 Rank: 22/51 |
3.654 Rank: 8/51 |
12.67562 Rank: 14/51 |
0.31110 (±0.00000) Rank: 4/51 |
0.45773 (±0.00000) Rank: 2/51 |
MAD | 3668.0 | 113.47 | 79.44 Rank: 22/51 |
752.36 Rank: 26/51 |
3.031 Rank: 22/51 |
4.72339 Rank: 11/51 |
0.03527 (±0.00000) Rank: 20/51 |
0.08548 (±0.00000) Rank: 20/51 |
MTV | 3896.6 | 141.25 | 85.97 Rank: 14/51 |
908.95 Rank: 23/51 |
3.347 Rank: 19/51 |
14.64508 Rank: 17/51 |
0.18482 (±0.00000) Rank: 12/51 |
0.27751 (±0.00000) Rank: 13/51 |
NOR | 3534.6 | 141.11 | 65.53 Rank: 16/51 |
442.62 Rank: 23/51 |
2.874 Rank: 18/51 |
10.06377 Rank: 17/51 |
0.09770 (±0.00000) Rank: 15/51 |
0.13820 (±0.00000) Rank: 16/51 |
SF | 3314.3 | 189.83 | 79.74 Rank: 20/51 |
1121.62 Rank: 19/51 |
3.315 Rank: 13/51 |
15.19923 Rank: 13/51 |
0.16861 (±0.00000) Rank: 12/51 |
0.25913 (±0.00000) Rank: 13/51 |
SG | 2854.6 | 174.38 | 67.26 Rank: 14/51 |
702.30 Rank: 21/51 |
3.150 Rank: 8/51 |
14.43857 Rank: 13/51 |
0.13491 (±0.00000) Rank: 9/51 |
0.18484 (±0.00000) Rank: 10/51 |
SYD | 3081.6 | 156.96 | 73.69 Rank: 16/51 |
685.56 Rank: 22/51 |
3.058 Rank: 18/51 |
9.13169 Rank: 5/51 |
0.09029 (±0.00000) Rank: 23/51 |
0.15308 (±0.00000) Rank: 22/51 |
TOK | 3047.8 | 206.74 | 85.02 Rank: 15/51 |
1344.64 Rank: 21/51 |
3.412 Rank: 10/51 |
11.99876 Rank: 15/51 |
0.44253 (±0.00000) Rank: 16/51 |
0.51671 (±0.00000) Rank: 16/51 |
TOR | 3514.5 | 90.82 | 74.87 Rank: 16/51 |
500.15 Rank: 23/51 |
3.149 Rank: 12/51 |
11.96730 Rank: 10/51 |
0.06005 (±0.00000) Rank: 21/51 |
0.11757 (±0.00000) Rank: 20/51 |
ZRH | 4168.4 | 233.62 | 80.14 Rank: 14/51 |
1560.07 Rank: 17/51 |
3.273 Rank: 5/51 |
16.23466 Rank: 12/51 |
0.07810 (±0.00000) Rank: 12/51 |
0.12919 (±0.00000) Rank: 13/51 |
Avg | 3588.0 | 185.57 | 78.55 Rank: 15/51 |
999.55 Rank: 20/51 |
3.319 Rank: 16/51 |
16.63184 Rank: 16/51 |
0.13868 (±0.00000) Rank: 13/51 |
0.20602 (±0.00000) Rank: 14/51 |
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/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7d4566cd6c2dbf3e-harrisz-8k-blobdtm/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)