Submission ID: 89a5f694
sp_sg_degen_v3
Processed: 21-06-17. Download link: 89a5f694f3a678a7-sp_sg_degen_adap.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: cc (contact)
- Keypoint: sp
- Descriptor: sp (128 float32: 512 bytes)
- Number of features: 2048
- Summary: sp+sg, diff_param degenac
- Paper: N/A
- Website: N/A
- Processing date: 21-06-17
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.58097 (±0.00000 over 1 run(s) / ±0.13022 over 9 scenes)
Rank (per category): 22 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 352.3 | 0.453 Rank: 53/87 |
0.896 Rank: 43/87 |
0.34485 (±0.00000) Rank: 19/87 |
0.49978 (±0.00000) Rank: 19/87 |
FCS | 2048.0 | — | 511.1 | 0.415 Rank: 21/87 |
0.872 Rank: 21/87 |
0.65428 (±0.00000) Rank: 24/87 |
0.77244 (±0.00000) Rank: 20/87 |
LMS | 2048.0 | — | 555.9 | 0.454 Rank: 16/87 |
0.693 Rank: 20/87 |
0.59528 (±0.00000) Rank: 24/87 |
0.70558 (±0.00000) Rank: 30/87 |
LB | 2048.0 | — | 366.0 | 0.393 Rank: 38/87 |
0.707 Rank: 30/87 |
0.50507 (±0.00000) Rank: 19/87 |
0.61729 (±0.00000) Rank: 8/87 |
MC | 2048.0 | — | 389.0 | 0.417 Rank: 39/87 |
0.860 Rank: 40/87 |
0.35340 (±0.00000) Rank: 19/87 |
0.50500 (±0.00000) Rank: 26/87 |
MR | 2048.0 | — | 377.5 | 0.416 Rank: 47/87 |
0.904 Rank: 22/87 |
0.28220 (±0.00000) Rank: 17/87 |
0.39478 (±0.00000) Rank: 21/87 |
PSM | 2048.0 | — | 350.1 | 0.328 Rank: 60/87 |
0.610 Rank: 34/87 |
0.23588 (±0.00000) Rank: 27/87 |
0.39222 (±0.00000) Rank: 28/87 |
SF | 2048.0 | — | 499.0 | 0.374 Rank: 38/87 |
0.791 Rank: 28/87 |
0.51256 (±0.00000) Rank: 23/87 |
0.65850 (±0.00000) Rank: 20/87 |
SPC | 2048.0 | — | 389.7 | 0.376 Rank: 51/87 |
0.798 Rank: 38/87 |
0.52212 (±0.00000) Rank: 22/87 |
0.68315 (±0.00000) Rank: 23/87 |
Avg | 2048.0 | — | 421.2 | 0.403 Rank: 47/87 |
0.792 Rank: 23/87 |
0.44507 (±0.00000) Rank: 22/87 |
0.58097 (±0.00000) Rank: 22/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09297 over 9 scenes)
Rank (per category): 22 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 351.87 | 99.80 Rank: 49/87 |
1889.01 Rank: 42/87 |
4.890 Rank: 48/87 |
0.34554 Rank: 20/87 |
0.59051 (±0.00000) Rank: 21/87 |
0.72567 (±0.00000) Rank: 22/87 |
FCS | 2048.0 | 517.68 | 97.25 Rank: 51/87 |
2500.06 Rank: 41/87 |
5.015 Rank: 40/87 |
0.25764 Rank: 46/87 |
0.72005 (±0.00000) Rank: 48/87 |
0.77891 (±0.00000) Rank: 51/87 |
LMS | 2048.0 | 582.94 | 99.40 Rank: 24/87 |
1963.36 Rank: 34/87 |
5.930 Rank: 8/87 |
0.27812 Rank: 21/87 |
0.84505 (±0.00000) Rank: 31/87 |
0.89093 (±0.00000) Rank: 36/87 |
LB | 2048.0 | 438.28 | 98.36 Rank: 1/87 |
1913.18 Rank: 43/87 |
5.395 Rank: 21/87 |
0.49014 Rank: 44/87 |
0.72139 (±0.00000) Rank: 23/87 |
0.81161 (±0.00000) Rank: 26/87 |
MC | 2048.0 | 383.04 | 100.00 Rank: 1/87 |
2015.55 Rank: 45/87 |
5.102 Rank: 44/87 |
0.35717 Rank: 32/87 |
0.56656 (±0.00000) Rank: 10/87 |
0.71267 (±0.00000) Rank: 9/87 |
MR | 2048.0 | 371.72 | 95.43 Rank: 12/87 |
1928.74 Rank: 46/87 |
4.913 Rank: 19/87 |
0.50566 Rank: 26/87 |
0.44827 (±0.00000) Rank: 9/87 |
0.57214 (±0.00000) Rank: 9/87 |
PSM | 2048.0 | 347.31 | 99.07 Rank: 35/87 |
2337.50 Rank: 43/87 |
4.582 Rank: 22/87 |
0.38502 Rank: 43/87 |
0.64991 (±0.00000) Rank: 17/87 |
0.73571 (±0.00000) Rank: 22/87 |
SF | 2048.0 | 491.18 | 100.00 Rank: 1/87 |
2723.98 Rank: 35/87 |
5.090 Rank: 13/87 |
0.27383 Rank: 4/87 |
0.78412 (±0.00000) Rank: 9/87 |
0.86637 (±0.00000) Rank: 9/87 |
SPC | 2048.0 | 399.01 | 100.00 Rank: 1/87 |
2155.61 Rank: 45/87 |
5.140 Rank: 35/87 |
0.45852 Rank: 41/87 |
0.75477 (±0.00000) Rank: 22/87 |
0.85066 (±0.00000) Rank: 17/87 |
Avg | 2048.0 | 431.45 | 98.81 Rank: 25/87 |
2158.55 Rank: 43/87 |
5.117 Rank: 27/87 |
0.37240 Rank: 33/87 |
0.67563 (±0.00000) Rank: 23/87 |
0.77163 (±0.00000) Rank: 22/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.77363 (±0.00000 over 1 run(s) / ±0.04674 over 3 scenes)
Rank (per category): 7 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 402.6 | 0.035 Rank: 29/87 |
0.014 Rank: 4/87 |
0.62219 (±0.00000) Rank: 7/87 |
0.74896 (±0.00000) Rank: 8/87 |
Pond | 2048.0 | — | 417.8 | 0.049 Rank: 38/87 |
0.046 Rank: 62/87 |
0.59519 (±0.00000) Rank: 11/87 |
0.73287 (±0.00000) Rank: 7/87 |
Tree | 2048.0 | — | 272.1 | 0.030 Rank: 34/87 |
0.025 Rank: 19/87 |
0.73466 (±0.00000) Rank: 10/87 |
0.83907 (±0.00000) Rank: 8/87 |
Avg | 2048.0 | — | 364.2 | 0.038 Rank: 32/87 |
0.028 Rank: 12/87 |
0.65068 (±0.00000) Rank: 9/87 |
0.77363 (±0.00000) Rank: 7/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14877 over 3 scenes)
Rank (per category): 33 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 424.11 | 85.70 Rank: 2/87 |
1288.08 Rank: 7/87 |
3.393 Rank: 29/87 |
14.51684 Rank: 58/87 |
0.59684 (±0.00000) Rank: 7/87 |
0.67771 (±0.00000) Rank: 7/87 |
Pond | 2048.0 | 448.70 | 67.93 Rank: 40/87 |
1057.15 Rank: 14/87 |
2.840 Rank: 47/87 |
0.44032 Rank: 60/87 |
0.28640 (±0.00000) Rank: 31/87 |
0.31553 (±0.00000) Rank: 31/87 |
Tree | 2048.0 | 262.09 | 70.49 Rank: 44/87 |
586.14 Rank: 18/87 |
2.928 Rank: 55/87 |
5.87743 Rank: 22/87 |
0.42687 (±0.00000) Rank: 38/87 |
0.46182 (±0.00000) Rank: 40/87 |
Avg | 2048.0 | 378.30 | 74.71 Rank: 41/87 |
977.12 Rank: 15/87 |
3.054 Rank: 47/87 |
6.94486 Rank: 52/87 |
0.43670 (±0.00000) Rank: 25/87 |
0.48502 (±0.00000) Rank: 33/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40124 (±0.00000 over 1 run(s) / ±0.14094 over 17 scenes)
Rank (per category): 20 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 263.5 | 0.25714 (±0.00000) Rank: 13/87 |
0.40982 (±0.00000) Rank: 13/87 |
Bangkok (BGK) | 2048.0 | — | 352.8 | 0.04069 (±0.00000) Rank: 45/87 |
0.14045 (±0.00000) Rank: 43/87 |
Barcelona (BCN) | 2048.0 | — | 266.8 | 0.11795 (±0.00000) Rank: 21/87 |
0.21209 (±0.00000) Rank: 16/87 |
Buenos Aires (BAR) | 2048.0 | — | 271.9 | 0.20822 (±0.00000) Rank: 13/87 |
0.37854 (±0.00000) Rank: 15/87 |
Cambridge (CAM) | 2048.0 | — | 272.7 | 0.31301 (±0.00000) Rank: 13/87 |
0.45719 (±0.00000) Rank: 20/87 |
Cannes (CAN) | 2048.0 | — | 349.7 | 0.40369 (±0.00000) Rank: 14/87 |
0.52857 (±0.00000) Rank: 7/87 |
Chicago (CHI) | 2048.0 | — | 205.0 | 0.21544 (±0.00000) Rank: 6/87 |
0.35683 (±0.00000) Rank: 6/87 |
Helsinki (HEL) | 2048.0 | — | 465.9 | 0.39536 (±0.00000) Rank: 4/87 |
0.58222 (±0.00000) Rank: 15/87 |
Madrid (MAD) | 2048.0 | — | 192.1 | 0.07964 (±0.00000) Rank: 27/87 |
0.17872 (±0.00000) Rank: 31/87 |
Mountain View (MTV) | 2048.0 | — | 252.5 | 0.22695 (±0.00000) Rank: 21/87 |
0.37910 (±0.00000) Rank: 20/87 |
New Orleans (NOR) | 2048.0 | — | 219.0 | 0.29822 (±0.00000) Rank: 2/87 |
0.41834 (±0.00000) Rank: 2/87 |
San Francisco (SF) | 2048.0 | — | 313.2 | 0.20787 (±0.00000) Rank: 13/87 |
0.36693 (±0.00000) Rank: 10/87 |
Singapore (SG) | 2048.0 | — | 266.5 | 0.31709 (±0.00000) Rank: 29/87 |
0.44937 (±0.00000) Rank: 27/87 |
Sydney (SYD) | 2048.0 | — | 302.1 | 0.32052 (±0.00000) Rank: 29/87 |
0.48166 (±0.00000) Rank: 27/87 |
Tokyo (TOK) | 2048.0 | — | 359.4 | 0.60588 (±0.00000) Rank: 13/87 |
0.74314 (±0.00000) Rank: 18/87 |
Toronto (TOR) | 2048.0 | — | 216.0 | 0.20640 (±0.00000) Rank: 30/87 |
0.36520 (±0.00000) Rank: 28/87 |
Zurich (ZRH) | 2048.0 | — | 342.1 | 0.27216 (±0.00000) Rank: 15/87 |
0.37285 (±0.00000) Rank: 15/87 |
Average (Avg) | 2048.0 | — | 288.9 | 0.26390 (±0.00000) Rank: 22/87 |
0.40124 (±0.00000) Rank: 20/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15237 over 17 scenes)
Rank (per category): 23 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 173.38 | 92.67 Rank: 12/87 |
1316.50 Rank: 29/87 |
3.863 Rank: 10/87 |
27.62512 Rank: 47/87 |
0.35981 (±0.00000) Rank: 17/87 |
0.49483 (±0.00000) Rank: 12/87 |
BGK | 2048.0 | 245.24 | 94.27 Rank: 42/87 |
2103.86 Rank: 31/87 |
3.658 Rank: 23/87 |
12.61785 Rank: 17/87 |
0.02211 (±0.00000) Rank: 42/87 |
0.07579 (±0.00000) Rank: 40/87 |
BCN | 2048.0 | 163.16 | 84.53 Rank: 27/87 |
1118.57 Rank: 29/87 |
3.802 Rank: 18/87 |
27.87685 Rank: 31/87 |
0.15359 (±0.00000) Rank: 5/87 |
0.23834 (±0.00000) Rank: 10/87 |
BAR | 2048.0 | 158.97 | 86.05 Rank: 24/87 |
1193.49 Rank: 27/87 |
3.328 Rank: 36/87 |
14.83736 Rank: 16/87 |
0.11772 (±0.00000) Rank: 38/87 |
0.21226 (±0.00000) Rank: 38/87 |
CAM | 2048.0 | 171.18 | 86.71 Rank: 26/87 |
1259.75 Rank: 24/87 |
3.424 Rank: 37/87 |
28.45263 Rank: 41/87 |
0.20962 (±0.00000) Rank: 6/87 |
0.30328 (±0.00000) Rank: 8/87 |
CAN | 2048.0 | 193.34 | 80.86 Rank: 13/87 |
902.38 Rank: 19/87 |
3.601 Rank: 9/87 |
20.66423 Rank: 33/87 |
0.07814 (±0.00000) Rank: 17/87 |
0.13167 (±0.00000) Rank: 21/87 |
CHI | 2048.0 | 182.03 | 90.27 Rank: 13/87 |
609.66 Rank: 20/87 |
4.406 Rank: 26/87 |
46.35274 Rank: 21/87 |
0.11290 (±0.00000) Rank: 27/87 |
0.20504 (±0.00000) Rank: 27/87 |
HEL | 2048.0 | 331.56 | 94.27 Rank: 22/87 |
2179.42 Rank: 28/87 |
3.961 Rank: 36/87 |
15.78006 Rank: 47/87 |
0.34647 (±0.00000) Rank: 20/87 |
0.47997 (±0.00000) Rank: 18/87 |
MAD | 2048.0 | 124.89 | 90.71 Rank: 21/87 |
1296.17 Rank: 26/87 |
3.339 Rank: 12/87 |
6.95684 Rank: 38/87 |
0.10190 (±0.00000) Rank: 15/87 |
0.21349 (±0.00000) Rank: 15/87 |
MTV | 2048.0 | 182.96 | 92.80 Rank: 13/87 |
1463.88 Rank: 21/87 |
3.817 Rank: 23/87 |
15.95311 Rank: 22/87 |
0.29176 (±0.00000) Rank: 16/87 |
0.42624 (±0.00000) Rank: 15/87 |
NOR | 2048.0 | 143.39 | 87.73 Rank: 21/87 |
1186.56 Rank: 24/87 |
3.404 Rank: 17/87 |
14.41143 Rank: 49/87 |
0.29968 (±0.00000) Rank: 8/87 |
0.39414 (±0.00000) Rank: 10/87 |
SF | 2048.0 | 206.31 | 95.87 Rank: 20/87 |
1646.39 Rank: 28/87 |
3.681 Rank: 31/87 |
21.04546 Rank: 39/87 |
0.29097 (±0.00000) Rank: 17/87 |
0.43286 (±0.00000) Rank: 20/87 |
SG | 2048.0 | 167.66 | 76.07 Rank: 28/87 |
1109.40 Rank: 24/87 |
3.455 Rank: 10/87 |
17.15620 Rank: 28/87 |
0.22095 (±0.00000) Rank: 26/87 |
0.29631 (±0.00000) Rank: 23/87 |
SYD | 2048.0 | 186.53 | 88.07 Rank: 26/87 |
1502.98 Rank: 22/87 |
3.620 Rank: 12/87 |
22.89073 Rank: 43/87 |
0.31367 (±0.00000) Rank: 12/87 |
0.39890 (±0.00000) Rank: 13/87 |
TOK | 2048.0 | 225.81 | 91.87 Rank: 36/87 |
1995.35 Rank: 26/87 |
3.718 Rank: 28/87 |
14.04549 Rank: 14/87 |
0.64299 (±0.00000) Rank: 35/87 |
0.71030 (±0.00000) Rank: 37/87 |
TOR | 2048.0 | 136.67 | 88.67 Rank: 21/87 |
1347.16 Rank: 27/87 |
3.204 Rank: 31/87 |
16.72240 Rank: 21/87 |
0.17499 (±0.00000) Rank: 34/87 |
0.29986 (±0.00000) Rank: 34/87 |
ZRH | 2048.0 | 212.44 | 90.27 Rank: 17/87 |
1880.38 Rank: 8/87 |
3.476 Rank: 18/87 |
20.34444 Rank: 34/87 |
0.13756 (±0.00000) Rank: 8/87 |
0.21198 (±0.00000) Rank: 9/87 |
Avg | 2048.0 | 188.56 | 88.92 Rank: 28/87 |
1418.35 Rank: 25/87 |
3.633 Rank: 29/87 |
20.21958 Rank: 32/87 |
0.22793 (±0.00000) Rank: 20/87 |
0.32502 (±0.00000) Rank: 23/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/89a5f694f3a678a7-sp_sg_degen_adap/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)