Submission ID: 89348c8b
HarrisZ improved, Blob DTM + AdaLAM
Processed: 21-06-15. Download link: 89348c8bf1b717ea-harrisz-8k-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: hzbnn22l05m8k2l
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 8000
- 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: 21-06-15
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.55214 (±0.00000 over 1 run(s) / ±0.15283 over 9 scenes)
Rank (per category): 21 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 5924.1 | — | 956.4 | 0.641 Rank: 20/51 |
0.889 Rank: 40/51 |
0.24624 (±0.00000) Rank: 25/51 |
0.36040 (±0.00000) Rank: 29/51 |
FCS | 7673.2 | — | 1297.4 | 0.522 Rank: 14/51 |
0.898 Rank: 24/51 |
0.63231 (±0.00000) Rank: 22/51 |
0.74919 (±0.00000) Rank: 23/51 |
LMS | 5167.7 | — | 966.7 | 0.519 Rank: 20/51 |
0.676 Rank: 28/51 |
0.58374 (±0.00000) Rank: 16/51 |
0.70633 (±0.00000) Rank: 13/51 |
LB | 7137.0 | — | 838.0 | 0.531 Rank: 24/51 |
0.757 Rank: 18/51 |
0.51214 (±0.00000) Rank: 25/51 |
0.61332 (±0.00000) Rank: 20/51 |
MC | 7683.4 | — | 1384.1 | 0.627 Rank: 20/51 |
0.914 Rank: 28/51 |
0.39547 (±0.00000) Rank: 25/51 |
0.54658 (±0.00000) Rank: 26/51 |
MR | 7601.6 | — | 1270.4 | 0.536 Rank: 25/51 |
0.915 Rank: 30/51 |
0.29970 (±0.00000) Rank: 28/51 |
0.41225 (±0.00000) Rank: 28/51 |
PSM | 7643.2 | — | 767.9 | 0.476 Rank: 20/51 |
0.675 Rank: 16/51 |
0.16864 (±0.00000) Rank: 26/51 |
0.28846 (±0.00000) Rank: 27/51 |
SF | 7832.8 | — | 1435.7 | 0.513 Rank: 22/51 |
0.852 Rank: 16/51 |
0.53404 (±0.00000) Rank: 20/51 |
0.65678 (±0.00000) Rank: 21/51 |
SPC | 7118.8 | — | 1026.8 | 0.568 Rank: 20/51 |
0.843 Rank: 22/51 |
0.48321 (±0.00000) Rank: 19/51 |
0.63599 (±0.00000) Rank: 18/51 |
Avg | 7086.9 | — | 1104.8 | 0.548 Rank: 20/51 |
0.824 Rank: 27/51 |
0.42839 (±0.00000) Rank: 21/51 |
0.55214 (±0.00000) Rank: 21/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11134 over 9 scenes)
Rank (per category): 13 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 5924.1 | 956.27 | 99.47 Rank: 43/51 |
2885.54 Rank: 34/51 |
5.388 Rank: 15/51 |
0.44067 Rank: 20/51 |
0.52530 (±0.00000) Rank: 17/51 |
0.66579 (±0.00000) Rank: 15/51 |
FCS | 7673.2 | 1356.56 | 98.07 Rank: 21/51 |
6007.94 Rank: 18/51 |
4.884 Rank: 18/51 |
0.22814 Rank: 17/51 |
0.77020 (±0.00000) Rank: 11/51 |
0.82387 (±0.00000) Rank: 13/51 |
LMS | 5167.7 | 1043.79 | 99.13 Rank: 27/51 |
3117.46 Rank: 25/51 |
5.299 Rank: 12/51 |
0.27588 Rank: 6/51 |
0.85144 (±0.00000) Rank: 8/51 |
0.90307 (±0.00000) Rank: 10/51 |
LB | 7137.0 | 1026.30 | 98.36 Rank: 1/51 |
3554.90 Rank: 28/51 |
5.093 Rank: 17/51 |
0.46121 Rank: 5/51 |
0.76239 (±0.00000) Rank: 3/51 |
0.83660 (±0.00000) Rank: 3/51 |
MC | 7683.4 | 1359.54 | 100.00 Rank: 1/51 |
4948.51 Rank: 20/51 |
5.426 Rank: 16/51 |
0.32949 Rank: 13/51 |
0.58587 (±0.00000) Rank: 3/51 |
0.71919 (±0.00000) Rank: 4/51 |
MR | 7601.6 | 1269.10 | 94.60 Rank: 24/51 |
5357.13 Rank: 23/51 |
4.641 Rank: 20/51 |
0.50363 Rank: 28/51 |
0.47688 (±0.00000) Rank: 11/51 |
0.59003 (±0.00000) Rank: 14/51 |
PSM | 7643.2 | 759.59 | 98.49 Rank: 19/51 |
6416.56 Rank: 19/51 |
3.828 Rank: 21/51 |
0.51184 Rank: 25/51 |
0.50500 (±0.00000) Rank: 22/51 |
0.59481 (±0.00000) Rank: 22/51 |
SF | 7832.8 | 1408.81 | 99.68 Rank: 13/51 |
6508.63 Rank: 21/51 |
4.926 Rank: 19/51 |
0.29172 Rank: 14/51 |
0.77163 (±0.00000) Rank: 14/51 |
0.85330 (±0.00000) Rank: 13/51 |
SPC | 7118.8 | 1064.82 | 100.00 Rank: 1/51 |
4504.16 Rank: 25/51 |
5.101 Rank: 18/51 |
0.43612 Rank: 15/51 |
0.74564 (±0.00000) Rank: 10/51 |
0.83593 (±0.00000) Rank: 12/51 |
Avg | 7086.9 | 1138.31 | 98.64 Rank: 18/51 |
4811.20 Rank: 23/51 |
4.954 Rank: 16/51 |
0.38652 Rank: 17/51 |
0.66604 (±0.00000) Rank: 10/51 |
0.75807 (±0.00000) Rank: 13/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.74239 (±0.00000 over 1 run(s) / ±0.05488 over 3 scenes)
Rank (per category): 9 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 1284.9 | 0.084 Rank: 34/51 |
0.010 Rank: 23/51 |
0.57503 (±0.00000) Rank: 9/51 |
0.70749 (±0.00000) Rank: 9/51 |
Pond | 8000.0 | — | 1331.0 | 0.108 Rank: 29/51 |
0.049 Rank: 29/51 |
0.58357 (±0.00000) Rank: 5/51 |
0.69980 (±0.00000) Rank: 6/51 |
Tree | 8000.0 | — | 948.1 | 0.084 Rank: 34/51 |
0.022 Rank: 7/51 |
0.73245 (±0.00000) Rank: 14/51 |
0.81987 (±0.00000) Rank: 14/51 |
Avg | 8000.0 | — | 1188.0 | 0.092 Rank: 34/51 |
0.027 Rank: 29/51 |
0.63035 (±0.00000) Rank: 9/51 |
0.74239 (±0.00000) Rank: 9/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14003 over 3 scenes)
Rank (per category): 20 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 1517.80 | 85.30 Rank: 4/51 |
3133.12 Rank: 11/51 |
3.432 Rank: 12/51 |
14.05358 Rank: 18/51 |
0.56116 (±0.00000) Rank: 18/51 |
0.64581 (±0.00000) Rank: 17/51 |
Pond | 8000.0 | 1956.09 | 69.87 Rank: 20/51 |
3365.37 Rank: 8/51 |
3.114 Rank: 10/51 |
0.43248 Rank: 21/51 |
0.27129 (±0.00000) Rank: 16/51 |
0.30299 (±0.00000) Rank: 17/51 |
Tree | 8000.0 | 1067.71 | 70.14 Rank: 33/51 |
1613.60 Rank: 15/51 |
2.900 Rank: 27/51 |
6.01573 Rank: 20/51 |
0.43004 (±0.00000) Rank: 26/51 |
0.46459 (±0.00000) Rank: 26/51 |
Avg | 8000.0 | 1513.87 | 75.10 Rank: 21/51 |
2704.03 Rank: 10/51 |
3.149 Rank: 13/51 |
6.83393 Rank: 18/51 |
0.42083 (±0.00000) Rank: 20/51 |
0.47113 (±0.00000) Rank: 20/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.33278 (±0.00000 over 1 run(s) / ±0.11928 over 17 scenes)
Rank (per category): 15 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4306.7 | — | 391.9 | 0.22589 (±0.00000) Rank: 15/51 |
0.37634 (±0.00000) Rank: 13/51 |
Bangkok (BGK) | 3087.8 | — | 339.7 | 0.06898 (±0.00000) Rank: 12/51 |
0.17519 (±0.00000) Rank: 15/51 |
Barcelona (BCN) | 4576.9 | — | 306.3 | 0.14799 (±0.00000) Rank: 4/51 |
0.23810 (±0.00000) Rank: 5/51 |
Buenos Aires (BAR) | 3994.0 | — | 334.8 | 0.17626 (±0.00000) Rank: 15/51 |
0.30502 (±0.00000) Rank: 17/51 |
Cambridge (CAM) | 2981.6 | — | 239.0 | 0.25890 (±0.00000) Rank: 15/51 |
0.37397 (±0.00000) Rank: 15/51 |
Cannes (CAN) | 3345.9 | — | 352.9 | 0.40829 (±0.00000) Rank: 11/51 |
0.49816 (±0.00000) Rank: 9/51 |
Chicago (CHI) | 4274.9 | — | 192.1 | 0.15956 (±0.00000) Rank: 14/51 |
0.24617 (±0.00000) Rank: 14/51 |
Helsinki (HEL) | 3348.7 | — | 514.3 | 0.37062 (±0.00000) Rank: 14/51 |
0.57474 (±0.00000) Rank: 13/51 |
Madrid (MAD) | 3668.0 | — | 168.4 | 0.05897 (±0.00000) Rank: 18/51 |
0.14225 (±0.00000) Rank: 18/51 |
Mountain View (MTV) | 3896.6 | — | 191.8 | 0.17422 (±0.00000) Rank: 15/51 |
0.29082 (±0.00000) Rank: 14/51 |
New Orleans (NOR) | 3534.6 | — | 212.8 | 0.23018 (±0.00000) Rank: 15/51 |
0.31065 (±0.00000) Rank: 13/51 |
San Francisco (SF) | 3314.3 | — | 310.6 | 0.16745 (±0.00000) Rank: 14/51 |
0.30472 (±0.00000) Rank: 13/51 |
Singapore (SG) | 2854.6 | — | 276.6 | 0.21392 (±0.00000) Rank: 21/51 |
0.31646 (±0.00000) Rank: 20/51 |
Sydney (SYD) | 3081.6 | — | 257.1 | 0.21223 (±0.00000) Rank: 23/51 |
0.32096 (±0.00000) Rank: 24/51 |
Tokyo (TOK) | 3047.8 | — | 328.7 | 0.46275 (±0.00000) Rank: 16/51 |
0.59044 (±0.00000) Rank: 17/51 |
Toronto (TOR) | 3514.5 | — | 144.2 | 0.14800 (±0.00000) Rank: 16/51 |
0.26880 (±0.00000) Rank: 17/51 |
Zurich (ZRH) | 4168.4 | — | 387.1 | 0.25086 (±0.00000) Rank: 13/51 |
0.32440 (±0.00000) Rank: 15/51 |
Average (Avg) | 3588.0 | — | 291.1 | 0.21971 (±0.00000) Rank: 14/51 |
0.33278 (±0.00000) Rank: 15/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12801 over 17 scenes)
Rank (per category): 12 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4306.7 | 234.16 | 82.93 Rank: 15/51 |
1415.11 Rank: 21/51 |
3.536 Rank: 15/51 |
22.82415 Rank: 14/51 |
0.30424 (±0.00000) Rank: 11/51 |
0.40061 (±0.00000) Rank: 11/51 |
BGK | 3087.8 | 221.60 | 92.13 Rank: 18/51 |
1675.75 Rank: 24/51 |
3.523 Rank: 14/51 |
12.16021 Rank: 9/51 |
0.02234 (±0.00000) Rank: 15/51 |
0.07869 (±0.00000) Rank: 14/51 |
BCN | 4576.9 | 170.85 | 77.77 Rank: 18/51 |
1062.66 Rank: 18/51 |
3.499 Rank: 7/51 |
26.80487 Rank: 17/51 |
0.15232 (±0.00000) Rank: 8/51 |
0.23149 (±0.00000) Rank: 9/51 |
BAR | 3994.0 | 181.52 | 72.57 Rank: 15/51 |
804.64 Rank: 21/51 |
3.072 Rank: 15/51 |
13.97361 Rank: 16/51 |
0.08281 (±0.00000) Rank: 16/51 |
0.14596 (±0.00000) Rank: 15/51 |
CAM | 2981.6 | 139.78 | 75.02 Rank: 18/51 |
795.21 Rank: 24/51 |
3.148 Rank: 15/51 |
17.98827 Rank: 6/51 |
0.11446 (±0.00000) Rank: 17/51 |
0.17180 (±0.00000) Rank: 16/51 |
CAN | 3345.9 | 186.89 | 66.01 Rank: 15/51 |
516.04 Rank: 19/51 |
3.211 Rank: 16/51 |
14.05078 Rank: 13/51 |
0.03906 (±0.00000) Rank: 13/51 |
0.06543 (±0.00000) Rank: 15/51 |
CHI | 4274.9 | 168.37 | 82.66 Rank: 15/51 |
424.50 Rank: 21/51 |
4.494 Rank: 15/51 |
40.41243 Rank: 8/51 |
0.09509 (±0.00000) Rank: 13/51 |
0.16626 (±0.00000) Rank: 15/51 |
HEL | 3348.7 | 361.02 | 90.57 Rank: 20/51 |
1938.58 Rank: 23/51 |
3.609 Rank: 9/51 |
12.43809 Rank: 11/51 |
0.28621 (±0.00000) Rank: 10/51 |
0.41507 (±0.00000) Rank: 17/51 |
MAD | 3668.0 | 105.96 | 81.12 Rank: 16/51 |
762.53 Rank: 25/51 |
3.196 Rank: 16/51 |
4.72843 Rank: 12/51 |
0.03447 (±0.00000) Rank: 21/51 |
0.08264 (±0.00000) Rank: 21/51 |
MTV | 3896.6 | 135.95 | 83.98 Rank: 15/51 |
809.49 Rank: 25/51 |
3.425 Rank: 16/51 |
14.68425 Rank: 18/51 |
0.18438 (±0.00000) Rank: 13/51 |
0.28312 (±0.00000) Rank: 12/51 |
NOR | 3534.6 | 134.11 | 67.60 Rank: 14/51 |
494.55 Rank: 21/51 |
2.918 Rank: 17/51 |
8.31867 Rank: 11/51 |
0.09756 (±0.00000) Rank: 16/51 |
0.13710 (±0.00000) Rank: 17/51 |
SF | 3314.3 | 184.78 | 80.63 Rank: 16/51 |
1038.01 Rank: 21/51 |
3.319 Rank: 12/51 |
14.69975 Rank: 10/51 |
0.16500 (±0.00000) Rank: 13/51 |
0.25570 (±0.00000) Rank: 14/51 |
SG | 2854.6 | 165.83 | 65.32 Rank: 17/51 |
642.37 Rank: 25/51 |
3.213 Rank: 6/51 |
14.93220 Rank: 15/51 |
0.13419 (±0.00000) Rank: 10/51 |
0.17744 (±0.00000) Rank: 12/51 |
SYD | 3081.6 | 150.84 | 72.14 Rank: 18/51 |
687.15 Rank: 21/51 |
3.114 Rank: 13/51 |
11.41929 Rank: 10/51 |
0.09002 (±0.00000) Rank: 24/51 |
0.13765 (±0.00000) Rank: 24/51 |
TOK | 3047.8 | 199.90 | 85.15 Rank: 14/51 |
1331.96 Rank: 22/51 |
3.550 Rank: 7/51 |
11.87460 Rank: 14/51 |
0.45931 (±0.00000) Rank: 15/51 |
0.53557 (±0.00000) Rank: 15/51 |
TOR | 3514.5 | 84.04 | 72.27 Rank: 20/51 |
504.22 Rank: 22/51 |
3.172 Rank: 10/51 |
12.55558 Rank: 13/51 |
0.06561 (±0.00000) Rank: 18/51 |
0.12694 (±0.00000) Rank: 18/51 |
ZRH | 4168.4 | 227.66 | 79.14 Rank: 15/51 |
1500.04 Rank: 18/51 |
3.323 Rank: 4/51 |
14.35881 Rank: 10/51 |
0.07932 (±0.00000) Rank: 11/51 |
0.13259 (±0.00000) Rank: 12/51 |
Avg | 3588.0 | 179.60 | 78.06 Rank: 16/51 |
964.87 Rank: 23/51 |
3.372 Rank: 14/51 |
15.77788 Rank: 11/51 |
0.14155 (±0.00000) Rank: 12/51 |
0.20847 (±0.00000) Rank: 12/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89348c8bf1b717ea-harrisz-8k-blobdtmadalam/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)