Submission ID: 7f08a759
Modified-DISK-TransUnet
Processed: 21-06-10. Download link: 7f08a759d4d62ba2-disk-transunet.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: Yuhao Zhou, Xiaohu Nan, Xudong Zhang (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 2048
- Summary:
- Paper: N/A
- Website: N/A
- Processing date: 21-06-10
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.46398 (±0.00000 over 1 run(s) / ±0.15427 over 9 scenes)
Rank (per category): 53 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 991.3 | 0.652 Rank: 2/87 |
0.932 Rank: 18/87 |
0.20102 (±0.00000) Rank: 57/87 |
0.33178 (±0.00000) Rank: 56/87 |
FCS | 2019.1 | — | 524.9 | 0.413 Rank: 27/87 |
0.852 Rank: 59/87 |
0.54192 (±0.00000) Rank: 51/87 |
0.66524 (±0.00000) Rank: 51/87 |
LMS | 2048.0 | — | 366.8 | 0.357 Rank: 70/87 |
0.687 Rank: 38/87 |
0.49928 (±0.00000) Rank: 55/87 |
0.61659 (±0.00000) Rank: 56/87 |
LB | 2048.0 | — | 479.8 | 0.480 Rank: 1/87 |
0.714 Rank: 22/87 |
0.40022 (±0.00000) Rank: 57/87 |
0.49082 (±0.00000) Rank: 56/87 |
MC | 2048.0 | — | 786.4 | 0.541 Rank: 8/87 |
0.930 Rank: 13/87 |
0.25080 (±0.00000) Rank: 57/87 |
0.40647 (±0.00000) Rank: 59/87 |
MR | 2048.0 | — | 492.1 | 0.417 Rank: 45/87 |
0.838 Rank: 70/87 |
0.20905 (±0.00000) Rank: 59/87 |
0.28603 (±0.00000) Rank: 69/87 |
PSM | 2048.0 | — | 430.8 | 0.374 Rank: 8/87 |
0.590 Rank: 47/87 |
0.11219 (±0.00000) Rank: 60/87 |
0.20760 (±0.00000) Rank: 59/87 |
SF | 2048.0 | — | 509.0 | 0.392 Rank: 15/87 |
0.796 Rank: 26/87 |
0.42650 (±0.00000) Rank: 49/87 |
0.55504 (±0.00000) Rank: 53/87 |
SPC | 2048.0 | — | 648.5 | 0.484 Rank: 1/87 |
0.851 Rank: 7/87 |
0.46309 (±0.00000) Rank: 39/87 |
0.61629 (±0.00000) Rank: 41/87 |
Avg | 2044.8 | — | 581.1 | 0.457 Rank: 3/87 |
0.799 Rank: 19/87 |
0.34490 (±0.00000) Rank: 52/87 |
0.46398 (±0.00000) Rank: 53/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12425 over 9 scenes)
Rank (per category): 50 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 996.95 | 99.60 Rank: 65/87 |
2584.69 Rank: 1/87 |
7.202 Rank: 2/87 |
0.45543 Rank: 52/87 |
0.44240 (±0.00000) Rank: 56/87 |
0.61346 (±0.00000) Rank: 52/87 |
FCS | 2019.1 | 543.84 | 96.89 Rank: 61/87 |
2691.74 Rank: 21/87 |
5.333 Rank: 5/87 |
0.27158 Rank: 60/87 |
0.69927 (±0.00000) Rank: 58/87 |
0.76199 (±0.00000) Rank: 62/87 |
LMS | 2048.0 | 388.44 | 98.93 Rank: 56/87 |
2049.03 Rank: 20/87 |
5.226 Rank: 59/87 |
0.30914 Rank: 53/87 |
0.80288 (±0.00000) Rank: 57/87 |
0.85719 (±0.00000) Rank: 60/87 |
LB | 2048.0 | 562.93 | 97.96 Rank: 48/87 |
2313.98 Rank: 4/87 |
5.902 Rank: 9/87 |
0.47485 Rank: 17/87 |
0.71419 (±0.00000) Rank: 32/87 |
0.79934 (±0.00000) Rank: 39/87 |
MC | 2048.0 | 769.64 | 99.93 Rank: 43/87 |
2781.86 Rank: 2/87 |
6.354 Rank: 6/87 |
0.38424 Rank: 51/87 |
0.51043 (±0.00000) Rank: 53/87 |
0.66823 (±0.00000) Rank: 47/87 |
MR | 2048.0 | 482.74 | 93.91 Rank: 47/87 |
2524.47 Rank: 9/87 |
5.054 Rank: 2/87 |
0.64516 Rank: 76/87 |
0.37336 (±0.00000) Rank: 55/87 |
0.49447 (±0.00000) Rank: 54/87 |
PSM | 2048.0 | 427.49 | 96.95 Rank: 45/87 |
3148.69 Rank: 2/87 |
4.222 Rank: 48/87 |
0.55319 Rank: 57/87 |
0.46013 (±0.00000) Rank: 54/87 |
0.54627 (±0.00000) Rank: 53/87 |
SF | 2048.0 | 501.71 | 96.85 Rank: 59/87 |
2795.42 Rank: 30/87 |
5.297 Rank: 2/87 |
0.28942 Rank: 37/87 |
0.72497 (±0.00000) Rank: 52/87 |
0.80924 (±0.00000) Rank: 53/87 |
SPC | 2048.0 | 663.42 | 99.80 Rank: 49/87 |
2725.94 Rank: 2/87 |
5.986 Rank: 4/87 |
0.44852 Rank: 39/87 |
0.72405 (±0.00000) Rank: 41/87 |
0.82157 (±0.00000) Rank: 41/87 |
Avg | 2044.8 | 593.02 | 97.87 Rank: 51/87 |
2623.98 Rank: 2/87 |
5.620 Rank: 6/87 |
0.42572 Rank: 56/87 |
0.60574 (±0.00000) Rank: 52/87 |
0.70797 (±0.00000) Rank: 50/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.48612 (±0.00000 over 1 run(s) / ±0.09991 over 3 scenes)
Rank (per category): 60 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 220.1 | 0.040 Rank: 18/87 |
0.004 Rank: 72/87 |
0.27961 (±0.00000) Rank: 66/87 |
0.38169 (±0.00000) Rank: 65/87 |
Pond | 2048.0 | — | 278.0 | 0.061 Rank: 16/87 |
0.055 Rank: 13/87 |
0.35631 (±0.00000) Rank: 60/87 |
0.45591 (±0.00000) Rank: 63/87 |
Tree | 2048.0 | — | 202.1 | 0.037 Rank: 17/87 |
0.016 Rank: 71/87 |
0.53024 (±0.00000) Rank: 49/87 |
0.62075 (±0.00000) Rank: 51/87 |
Avg | 2048.0 | — | 233.4 | 0.046 Rank: 16/87 |
0.025 Rank: 67/87 |
0.38872 (±0.00000) Rank: 60/87 |
0.48612 (±0.00000) Rank: 60/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12106 over 3 scenes)
Rank (per category): 54 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 255.58 | 83.43 Rank: 55/87 |
832.79 Rank: 49/87 |
3.433 Rank: 14/87 |
14.08590 Rank: 26/87 |
0.51538 (±0.00000) Rank: 57/87 |
0.60756 (±0.00000) Rank: 57/87 |
Pond | 2048.0 | 367.18 | 66.43 Rank: 61/87 |
883.91 Rank: 36/87 |
2.996 Rank: 20/87 |
0.43727 Rank: 52/87 |
0.27591 (±0.00000) Rank: 41/87 |
0.31211 (±0.00000) Rank: 37/87 |
Tree | 2048.0 | 241.26 | 71.61 Rank: 26/87 |
579.80 Rank: 19/87 |
3.167 Rank: 3/87 |
6.06573 Rank: 41/87 |
0.39784 (±0.00000) Rank: 52/87 |
0.43788 (±0.00000) Rank: 51/87 |
Avg | 2048.0 | 288.01 | 73.83 Rank: 57/87 |
765.50 Rank: 44/87 |
3.198 Rank: 7/87 |
6.86297 Rank: 29/87 |
0.39638 (±0.00000) Rank: 56/87 |
0.45251 (±0.00000) Rank: 54/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.27752 (±0.00000 over 1 run(s) / ±0.10574 over 17 scenes)
Rank (per category): 45 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2040.7 | — | 312.3 | 0.14286 (±0.00000) Rank: 45/87 |
0.26339 (±0.00000) Rank: 44/87 |
Bangkok (BGK) | 2046.3 | — | 378.3 | 0.07246 (±0.00000) Rank: 8/87 |
0.19479 (±0.00000) Rank: 1/87 |
Barcelona (BCN) | 2028.5 | — | 224.0 | 0.06007 (±0.00000) Rank: 47/87 |
0.11758 (±0.00000) Rank: 47/87 |
Buenos Aires (BAR) | 2048.0 | — | 218.1 | 0.15342 (±0.00000) Rank: 45/87 |
0.27078 (±0.00000) Rank: 45/87 |
Cambridge (CAM) | 2033.1 | — | 251.9 | 0.18425 (±0.00000) Rank: 45/87 |
0.30685 (±0.00000) Rank: 47/87 |
Cannes (CAN) | 2000.0 | — | 285.8 | 0.29124 (±0.00000) Rank: 45/87 |
0.38203 (±0.00000) Rank: 45/87 |
Chicago (CHI) | 1995.8 | — | 152.9 | 0.08634 (±0.00000) Rank: 43/87 |
0.15000 (±0.00000) Rank: 42/87 |
Helsinki (HEL) | 2048.0 | — | 494.1 | 0.32216 (±0.00000) Rank: 38/87 |
0.51830 (±0.00000) Rank: 37/87 |
Madrid (MAD) | 2048.0 | — | 173.3 | 0.06201 (±0.00000) Rank: 41/87 |
0.16596 (±0.00000) Rank: 38/87 |
Mountain View (MTV) | 2031.7 | — | 217.7 | 0.13672 (±0.00000) Rank: 45/87 |
0.23691 (±0.00000) Rank: 44/87 |
New Orleans (NOR) | 2047.6 | — | 164.4 | 0.19053 (±0.00000) Rank: 45/87 |
0.25207 (±0.00000) Rank: 45/87 |
San Francisco (SF) | 2041.4 | — | 226.0 | 0.13648 (±0.00000) Rank: 44/87 |
0.24698 (±0.00000) Rank: 45/87 |
Singapore (SG) | 2015.7 | — | 202.2 | 0.17278 (±0.00000) Rank: 47/87 |
0.26899 (±0.00000) Rank: 47/87 |
Sydney (SYD) | 2025.0 | — | 184.3 | 0.20611 (±0.00000) Rank: 44/87 |
0.33974 (±0.00000) Rank: 43/87 |
Tokyo (TOK) | 2048.0 | — | 243.9 | 0.34804 (±0.00000) Rank: 48/87 |
0.49608 (±0.00000) Rank: 48/87 |
Toronto (TOR) | 2042.7 | — | 139.9 | 0.15680 (±0.00000) Rank: 40/87 |
0.29160 (±0.00000) Rank: 40/87 |
Zurich (ZRH) | 2034.7 | — | 230.9 | 0.15601 (±0.00000) Rank: 47/87 |
0.21581 (±0.00000) Rank: 47/87 |
Average (Avg) | 2033.8 | — | 241.2 | 0.16931 (±0.00000) Rank: 46/87 |
0.27752 (±0.00000) Rank: 45/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09567 over 17 scenes)
Rank (per category): 44 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2040.7 | 192.29 | 84.03 Rank: 42/87 |
1488.67 Rank: 10/87 |
3.606 Rank: 42/87 |
19.89419 Rank: 8/87 |
0.20951 (±0.00000) Rank: 44/87 |
0.30131 (±0.00000) Rank: 43/87 |
BGK | 2046.3 | 255.04 | 94.67 Rank: 41/87 |
2459.35 Rank: 21/87 |
3.654 Rank: 27/87 |
13.83643 Rank: 34/87 |
0.02688 (±0.00000) Rank: 29/87 |
0.09124 (±0.00000) Rank: 20/87 |
BCN | 2028.5 | 127.96 | 77.64 Rank: 43/87 |
1041.27 Rank: 30/87 |
3.459 Rank: 45/87 |
21.95424 Rank: 6/87 |
0.07996 (±0.00000) Rank: 43/87 |
0.12499 (±0.00000) Rank: 45/87 |
BAR | 2048.0 | 123.63 | 72.78 Rank: 43/87 |
862.76 Rank: 34/87 |
3.091 Rank: 44/87 |
14.16212 Rank: 12/87 |
0.08787 (±0.00000) Rank: 42/87 |
0.16026 (±0.00000) Rank: 42/87 |
CAM | 2033.1 | 151.82 | 76.00 Rank: 43/87 |
1305.15 Rank: 17/87 |
3.033 Rank: 49/87 |
18.11527 Rank: 7/87 |
0.10047 (±0.00000) Rank: 46/87 |
0.15985 (±0.00000) Rank: 45/87 |
CAN | 2000.0 | 156.16 | 69.50 Rank: 37/87 |
692.60 Rank: 32/87 |
3.349 Rank: 38/87 |
15.04734 Rank: 13/87 |
0.02056 (±0.00000) Rank: 46/87 |
0.05441 (±0.00000) Rank: 42/87 |
CHI | 1995.8 | 133.53 | 85.21 Rank: 32/87 |
413.05 Rank: 32/87 |
4.844 Rank: 18/87 |
45.00981 Rank: 12/87 |
0.07156 (±0.00000) Rank: 34/87 |
0.13800 (±0.00000) Rank: 34/87 |
HEL | 2048.0 | 351.55 | 95.66 Rank: 4/87 |
2691.77 Rank: 1/87 |
3.651 Rank: 46/87 |
9.97354 Rank: 3/87 |
0.25616 (±0.00000) Rank: 43/87 |
0.38296 (±0.00000) Rank: 43/87 |
MAD | 2048.0 | 108.96 | 81.25 Rank: 43/87 |
1097.23 Rank: 34/87 |
3.132 Rank: 46/87 |
4.28076 Rank: 7/87 |
0.03723 (±0.00000) Rank: 44/87 |
0.08879 (±0.00000) Rank: 44/87 |
MTV | 2031.7 | 155.99 | 85.38 Rank: 42/87 |
1323.10 Rank: 31/87 |
3.771 Rank: 37/87 |
14.44044 Rank: 9/87 |
0.14684 (±0.00000) Rank: 44/87 |
0.24816 (±0.00000) Rank: 43/87 |
NOR | 2047.6 | 107.40 | 64.72 Rank: 43/87 |
747.25 Rank: 32/87 |
3.154 Rank: 41/87 |
8.03535 Rank: 10/87 |
0.11524 (±0.00000) Rank: 42/87 |
0.15495 (±0.00000) Rank: 42/87 |
SF | 2041.4 | 143.54 | 82.99 Rank: 43/87 |
1024.77 Rank: 35/87 |
3.407 Rank: 44/87 |
15.31184 Rank: 11/87 |
0.10042 (±0.00000) Rank: 48/87 |
0.16951 (±0.00000) Rank: 48/87 |
SG | 2015.7 | 126.03 | 62.64 Rank: 45/87 |
757.74 Rank: 34/87 |
3.095 Rank: 47/87 |
12.69226 Rank: 6/87 |
0.06057 (±0.00000) Rank: 47/87 |
0.09812 (±0.00000) Rank: 47/87 |
SYD | 2025.0 | 113.03 | 72.40 Rank: 43/87 |
745.75 Rank: 42/87 |
3.100 Rank: 46/87 |
12.08669 Rank: 9/87 |
0.11879 (±0.00000) Rank: 44/87 |
0.17863 (±0.00000) Rank: 45/87 |
TOK | 2048.0 | 149.96 | 77.83 Rank: 48/87 |
1445.17 Rank: 38/87 |
3.571 Rank: 44/87 |
9.68943 Rank: 5/87 |
0.30005 (±0.00000) Rank: 48/87 |
0.36997 (±0.00000) Rank: 48/87 |
TOR | 2042.7 | 86.94 | 75.73 Rank: 42/87 |
780.15 Rank: 40/87 |
2.978 Rank: 47/87 |
12.10578 Rank: 10/87 |
0.07665 (±0.00000) Rank: 42/87 |
0.14868 (±0.00000) Rank: 42/87 |
ZRH | 2034.7 | 138.23 | 70.73 Rank: 46/87 |
988.55 Rank: 40/87 |
3.048 Rank: 50/87 |
13.51797 Rank: 7/87 |
0.02915 (±0.00000) Rank: 47/87 |
0.06192 (±0.00000) Rank: 47/87 |
Avg | 2033.8 | 154.24 | 78.19 Rank: 43/87 |
1168.49 Rank: 32/87 |
3.408 Rank: 42/87 |
15.30315 Rank: 10/87 |
0.10811 (±0.00000) Rank: 46/87 |
0.17246 (±0.00000) Rank: 44/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/7f08a759d4d62ba2-disk-transunet/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)