Submission ID: 8629aafc
HarrisZ improved, Blob DTM + AdaLAM
Processed: 21-06-13. Download link: 8629aafc18a0a156-harrisz-2k-blobdtmadalam.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Fabio Bellavia and Dmytro Mishkin (contact)
- Keypoint: hzbnn22l05m2k2l
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 2048
- Summary: Baseline submission for HarrisZ detector evaluation with Blob DTM matcher and then AdaLAM filtering (descriptor: AffNet+HardNet8, RANSAC: DEGENSAC)
- Paper: https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2009.0127
- Website: N/A
- Processing date: 21-06-13
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.43697 (±0.00000 over 1 run(s) / ±0.15880 over 9 scenes)
Rank (per category): 60 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 301.8 | 0.470 Rank: 32/87 |
0.865 Rank: 68/87 |
0.14297 (±0.00000) Rank: 65/87 |
0.22504 (±0.00000) Rank: 68/87 |
FCS | 2048.0 | — | 272.1 | 0.348 Rank: 79/87 |
0.878 Rank: 14/87 |
0.53865 (±0.00000) Rank: 52/87 |
0.66336 (±0.00000) Rank: 52/87 |
LMS | 2025.2 | — | 275.7 | 0.329 Rank: 83/87 |
0.653 Rank: 68/87 |
0.49783 (±0.00000) Rank: 56/87 |
0.62319 (±0.00000) Rank: 54/87 |
LB | 2046.5 | — | 228.1 | 0.336 Rank: 76/87 |
0.707 Rank: 34/87 |
0.37528 (±0.00000) Rank: 65/87 |
0.48369 (±0.00000) Rank: 58/87 |
MC | 2047.5 | — | 270.3 | 0.401 Rank: 56/87 |
0.892 Rank: 29/87 |
0.26721 (±0.00000) Rank: 65/87 |
0.40223 (±0.00000) Rank: 62/87 |
MR | 2048.0 | — | 277.7 | 0.355 Rank: 81/87 |
0.898 Rank: 38/87 |
0.21506 (±0.00000) Rank: 58/87 |
0.31155 (±0.00000) Rank: 57/87 |
PSM | 2048.0 | — | 163.2 | 0.289 Rank: 76/87 |
0.555 Rank: 55/87 |
0.10040 (±0.00000) Rank: 65/87 |
0.18693 (±0.00000) Rank: 65/87 |
SF | 2048.0 | — | 267.5 | 0.320 Rank: 82/87 |
0.816 Rank: 14/87 |
0.41238 (±0.00000) Rank: 56/87 |
0.54303 (±0.00000) Rank: 57/87 |
SPC | 2043.3 | — | 225.2 | 0.344 Rank: 72/87 |
0.804 Rank: 27/87 |
0.34909 (±0.00000) Rank: 57/87 |
0.49375 (±0.00000) Rank: 60/87 |
Avg | 2044.7 | — | 253.5 | 0.355 Rank: 75/87 |
0.785 Rank: 40/87 |
0.32210 (±0.00000) Rank: 59/87 |
0.43697 (±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.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13503 over 9 scenes)
Rank (per category): 49 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 300.41 | 99.53 Rank: 68/87 |
1122.90 Rank: 62/87 |
4.903 Rank: 44/87 |
0.53377 Rank: 59/87 |
0.42549 (±0.00000) Rank: 60/87 |
0.56686 (±0.00000) Rank: 61/87 |
FCS | 2048.0 | 282.90 | 98.86 Rank: 5/87 |
1711.41 Rank: 64/87 |
4.617 Rank: 58/87 |
0.26185 Rank: 51/87 |
0.75392 (±0.00000) Rank: 16/87 |
0.82076 (±0.00000) Rank: 5/87 |
LMS | 2025.2 | 298.19 | 99.20 Rank: 42/87 |
1244.42 Rank: 69/87 |
4.968 Rank: 68/87 |
0.29275 Rank: 37/87 |
0.81877 (±0.00000) Rank: 49/87 |
0.87917 (±0.00000) Rank: 48/87 |
LB | 2046.5 | 277.20 | 97.99 Rank: 47/87 |
1078.15 Rank: 69/87 |
4.773 Rank: 62/87 |
0.47187 Rank: 14/87 |
0.68974 (±0.00000) Rank: 44/87 |
0.78782 (±0.00000) Rank: 45/87 |
MC | 2047.5 | 265.03 | 99.60 Rank: 60/87 |
1289.22 Rank: 62/87 |
4.795 Rank: 54/87 |
0.36566 Rank: 40/87 |
0.53195 (±0.00000) Rank: 42/87 |
0.68102 (±0.00000) Rank: 41/87 |
MR | 2048.0 | 276.60 | 93.47 Rank: 52/87 |
1418.06 Rank: 60/87 |
4.291 Rank: 69/87 |
0.52101 Rank: 34/87 |
0.40600 (±0.00000) Rank: 41/87 |
0.52965 (±0.00000) Rank: 41/87 |
PSM | 2048.0 | 159.84 | 91.42 Rank: 63/87 |
1719.38 Rank: 65/87 |
3.377 Rank: 62/87 |
0.56650 Rank: 60/87 |
0.42413 (±0.00000) Rank: 59/87 |
0.51286 (±0.00000) Rank: 59/87 |
SF | 2048.0 | 263.43 | 98.60 Rank: 48/87 |
1694.78 Rank: 70/87 |
4.438 Rank: 72/87 |
0.31281 Rank: 58/87 |
0.73574 (±0.00000) Rank: 45/87 |
0.82141 (±0.00000) Rank: 44/87 |
SPC | 2043.3 | 232.33 | 99.60 Rank: 54/87 |
1305.31 Rank: 66/87 |
4.562 Rank: 61/87 |
0.39232 Rank: 3/87 |
0.71615 (±0.00000) Rank: 43/87 |
0.82006 (±0.00000) Rank: 43/87 |
Avg | 2044.7 | 261.77 | 97.58 Rank: 56/87 |
1398.18 Rank: 65/87 |
4.525 Rank: 64/87 |
0.41317 Rank: 49/87 |
0.61132 (±0.00000) Rank: 49/87 |
0.71329 (±0.00000) Rank: 49/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.59184 (±0.00000 over 1 run(s) / ±0.04069 over 3 scenes)
Rank (per category): 46 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 288.8 | 0.024 Rank: 68/87 |
0.009 Rank: 44/87 |
0.44216 (±0.00000) Rank: 46/87 |
0.57184 (±0.00000) Rank: 47/87 |
Pond | 2048.0 | — | 286.8 | 0.047 Rank: 58/87 |
0.048 Rank: 34/87 |
0.43287 (±0.00000) Rank: 50/87 |
0.55511 (±0.00000) Rank: 52/87 |
Tree | 2048.0 | — | 195.2 | 0.029 Rank: 53/87 |
0.022 Rank: 44/87 |
0.53996 (±0.00000) Rank: 47/87 |
0.64857 (±0.00000) Rank: 48/87 |
Avg | 2048.0 | — | 256.9 | 0.034 Rank: 68/87 |
0.026 Rank: 51/87 |
0.47166 (±0.00000) Rank: 45/87 |
0.59184 (±0.00000) Rank: 46/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, 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/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15323 over 3 scenes)
Rank (per category): 47 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 342.74 | 85.30 Rank: 19/87 |
744.93 Rank: 52/87 |
3.385 Rank: 33/87 |
14.19274 Rank: 38/87 |
0.55533 (±0.00000) Rank: 47/87 |
0.64919 (±0.00000) Rank: 43/87 |
Pond | 2048.0 | 434.49 | 70.83 Rank: 8/87 |
744.41 Rank: 57/87 |
3.051 Rank: 13/87 |
0.44655 Rank: 66/87 |
0.24862 (±0.00000) Rank: 54/87 |
0.27386 (±0.00000) Rank: 61/87 |
Tree | 2048.0 | 222.14 | 70.19 Rank: 49/87 |
387.95 Rank: 61/87 |
2.940 Rank: 52/87 |
5.85828 Rank: 19/87 |
0.42491 (±0.00000) Rank: 40/87 |
0.46260 (±0.00000) Rank: 39/87 |
Avg | 2048.0 | 333.12 | 75.44 Rank: 14/87 |
625.77 Rank: 58/87 |
3.125 Rank: 21/87 |
6.83252 Rank: 21/87 |
0.40962 (±0.00000) Rank: 48/87 |
0.46188 (±0.00000) Rank: 47/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.29635 (±0.00000 over 1 run(s) / ±0.12235 over 17 scenes)
Rank (per category): 44 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 160.2 | 0.18125 (±0.00000) Rank: 37/87 |
0.30893 (±0.00000) Rank: 37/87 |
Bangkok (BGK) | 2026.9 | — | 209.7 | 0.05658 (±0.00000) Rank: 30/87 |
0.14864 (±0.00000) Rank: 39/87 |
Barcelona (BCN) | 2048.0 | — | 116.6 | 0.09451 (±0.00000) Rank: 39/87 |
0.16300 (±0.00000) Rank: 41/87 |
Buenos Aires (BAR) | 2048.0 | — | 163.4 | 0.16438 (±0.00000) Rank: 37/87 |
0.27580 (±0.00000) Rank: 44/87 |
Cambridge (CAM) | 2044.9 | — | 167.4 | 0.22397 (±0.00000) Rank: 37/87 |
0.33493 (±0.00000) Rank: 45/87 |
Cannes (CAN) | 2048.0 | — | 196.6 | 0.35484 (±0.00000) Rank: 38/87 |
0.44240 (±0.00000) Rank: 40/87 |
Chicago (CHI) | 2042.0 | — | 99.4 | 0.11516 (±0.00000) Rank: 39/87 |
0.17999 (±0.00000) Rank: 41/87 |
Helsinki (HEL) | 2043.3 | — | 307.6 | 0.34845 (±0.00000) Rank: 32/87 |
0.56418 (±0.00000) Rank: 31/87 |
Madrid (MAD) | 2046.3 | — | 102.8 | 0.05410 (±0.00000) Rank: 44/87 |
0.13343 (±0.00000) Rank: 45/87 |
Mountain View (MTV) | 2047.9 | — | 105.2 | 0.15469 (±0.00000) Rank: 40/87 |
0.25449 (±0.00000) Rank: 41/87 |
New Orleans (NOR) | 2038.9 | — | 128.3 | 0.21420 (±0.00000) Rank: 40/87 |
0.29024 (±0.00000) Rank: 41/87 |
San Francisco (SF) | 2041.1 | — | 179.6 | 0.14121 (±0.00000) Rank: 42/87 |
0.26299 (±0.00000) Rank: 43/87 |
Singapore (SG) | 2033.1 | — | 193.2 | 0.19620 (±0.00000) Rank: 44/87 |
0.27595 (±0.00000) Rank: 45/87 |
Sydney (SYD) | 2019.0 | — | 176.6 | 0.17293 (±0.00000) Rank: 47/87 |
0.28821 (±0.00000) Rank: 46/87 |
Tokyo (TOK) | 2039.4 | — | 228.6 | 0.42941 (±0.00000) Rank: 44/87 |
0.56765 (±0.00000) Rank: 44/87 |
Toronto (TOR) | 2041.5 | — | 85.0 | 0.13600 (±0.00000) Rank: 42/87 |
0.24480 (±0.00000) Rank: 44/87 |
Zurich (ZRH) | 2043.6 | — | 179.6 | 0.22268 (±0.00000) Rank: 40/87 |
0.30241 (±0.00000) Rank: 42/87 |
Average (Avg) | 2041.2 | — | 164.7 | 0.19180 (±0.00000) Rank: 43/87 |
0.29635 (±0.00000) Rank: 44/87 |
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/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11432 over 17 scenes)
Rank (per category): 47 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 96.33 | 65.61 Rank: 49/87 |
501.51 Rank: 50/87 |
3.054 Rank: 49/87 |
18.27209 Rank: 6/87 |
0.13267 (±0.00000) Rank: 50/87 |
0.18312 (±0.00000) Rank: 50/87 |
BGK | 2026.9 | 138.38 | 90.57 Rank: 47/87 |
1060.63 Rank: 50/87 |
3.490 Rank: 49/87 |
12.79868 Rank: 20/87 |
0.02427 (±0.00000) Rank: 35/87 |
0.07897 (±0.00000) Rank: 33/87 |
BCN | 2048.0 | 68.08 | 67.75 Rank: 49/87 |
427.51 Rank: 50/87 |
3.265 Rank: 48/87 |
21.65228 Rank: 4/87 |
0.09834 (±0.00000) Rank: 38/87 |
0.15340 (±0.00000) Rank: 38/87 |
BAR | 2048.0 | 88.61 | 57.86 Rank: 49/87 |
307.86 Rank: 51/87 |
2.970 Rank: 47/87 |
8.91764 Rank: 4/87 |
0.04529 (±0.00000) Rank: 48/87 |
0.08381 (±0.00000) Rank: 48/87 |
CAM | 2044.9 | 96.72 | 72.22 Rank: 46/87 |
621.34 Rank: 45/87 |
3.080 Rank: 48/87 |
19.39461 Rank: 9/87 |
0.12665 (±0.00000) Rank: 42/87 |
0.17982 (±0.00000) Rank: 42/87 |
CAN | 2048.0 | 102.44 | 56.61 Rank: 46/87 |
295.43 Rank: 46/87 |
3.140 Rank: 43/87 |
9.26787 Rank: 5/87 |
0.02416 (±0.00000) Rank: 44/87 |
0.04340 (±0.00000) Rank: 48/87 |
CHI | 2042.0 | 86.69 | 71.75 Rank: 46/87 |
212.35 Rank: 47/87 |
3.801 Rank: 47/87 |
40.96977 Rank: 6/87 |
0.04407 (±0.00000) Rank: 40/87 |
0.08595 (±0.00000) Rank: 43/87 |
HEL | 2043.3 | 217.46 | 88.88 Rank: 46/87 |
1160.77 Rank: 49/87 |
3.567 Rank: 49/87 |
11.08410 Rank: 7/87 |
0.22940 (±0.00000) Rank: 44/87 |
0.36166 (±0.00000) Rank: 44/87 |
MAD | 2046.3 | 63.67 | 72.54 Rank: 49/87 |
440.77 Rank: 49/87 |
3.052 Rank: 49/87 |
3.58764 Rank: 5/87 |
0.02295 (±0.00000) Rank: 47/87 |
0.05904 (±0.00000) Rank: 47/87 |
MTV | 2047.9 | 76.55 | 79.03 Rank: 45/87 |
471.70 Rank: 50/87 |
3.327 Rank: 49/87 |
13.99321 Rank: 8/87 |
0.15534 (±0.00000) Rank: 43/87 |
0.23691 (±0.00000) Rank: 44/87 |
NOR | 2038.9 | 81.58 | 55.70 Rank: 48/87 |
243.35 Rank: 50/87 |
2.918 Rank: 47/87 |
6.24780 Rank: 5/87 |
0.05990 (±0.00000) Rank: 46/87 |
0.08987 (±0.00000) Rank: 47/87 |
SF | 2041.1 | 106.57 | 75.02 Rank: 46/87 |
630.12 Rank: 48/87 |
3.269 Rank: 46/87 |
12.44205 Rank: 5/87 |
0.10539 (±0.00000) Rank: 47/87 |
0.17806 (±0.00000) Rank: 46/87 |
SG | 2033.1 | 117.35 | 61.92 Rank: 46/87 |
451.99 Rank: 48/87 |
3.115 Rank: 45/87 |
12.74417 Rank: 7/87 |
0.07019 (±0.00000) Rank: 46/87 |
0.10218 (±0.00000) Rank: 46/87 |
SYD | 2019.0 | 103.78 | 64.81 Rank: 49/87 |
412.39 Rank: 49/87 |
2.906 Rank: 50/87 |
9.12875 Rank: 6/87 |
0.07623 (±0.00000) Rank: 49/87 |
0.12006 (±0.00000) Rank: 49/87 |
TOK | 2039.4 | 134.61 | 80.79 Rank: 46/87 |
880.94 Rank: 48/87 |
3.469 Rank: 47/87 |
9.42266 Rank: 4/87 |
0.41894 (±0.00000) Rank: 46/87 |
0.48850 (±0.00000) Rank: 46/87 |
TOR | 2041.5 | 49.36 | 63.25 Rank: 46/87 |
288.99 Rank: 49/87 |
3.053 Rank: 44/87 |
10.68119 Rank: 8/87 |
0.03684 (±0.00000) Rank: 46/87 |
0.07357 (±0.00000) Rank: 46/87 |
ZRH | 2043.6 | 102.26 | 71.30 Rank: 44/87 |
813.66 Rank: 46/87 |
3.063 Rank: 49/87 |
11.35785 Rank: 5/87 |
0.03575 (±0.00000) Rank: 45/87 |
0.06790 (±0.00000) Rank: 46/87 |
Avg | 2041.2 | 101.79 | 70.33 Rank: 48/87 |
542.43 Rank: 48/87 |
3.208 Rank: 48/87 |
13.64484 Rank: 5/87 |
0.10037 (±0.00000) Rank: 47/87 |
0.15213 (±0.00000) Rank: 47/87 |
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/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/8629aafc18a0a156-harrisz-2k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)