Submission ID: 94de482d
KORNIA TUTORIAL AdaLAM CV-DoG-AffNet-HardNet8
Processed: 21-05-28. Download link: 94de482da7197801-dog-affnet-hardnet8-degensac-adalam.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: Dmytro Mishkin, Milan Pultar and kornia team (contact)
- Keypoint: cv2dog
- Descriptor: affnethardnet8 (128 float32: 512 bytes)
- Number of features: 8000
- Summary: OpeCV SIFT keypoints 8000 features, followed by the AffNet normalization and HardNet8 descriptor as implemented in kornia. Matched using AdaLAM with DEGENSAC
- Paper: https://arxiv.org/abs/2007.09699
- Website: https://github.com/kornia/kornia
- Processing date: 21-05-28
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.55026 (±0.00000 over 1 run(s) / ±0.15095 over 9 scenes)
Rank (per category): 23 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7969.3 | — | 751.7 | 0.526 Rank: 38/51 |
0.892 Rank: 38/51 |
0.17226 (±0.00000) Rank: 35/51 |
0.26926 (±0.00000) Rank: 35/51 |
FCS | 7876.6 | — | 785.7 | 0.443 Rank: 39/51 |
0.929 Rank: 6/51 |
0.64292 (±0.00000) Rank: 19/51 |
0.75518 (±0.00000) Rank: 20/51 |
LMS | 7773.0 | — | 451.7 | 0.465 Rank: 28/51 |
0.685 Rank: 22/51 |
0.54660 (±0.00000) Rank: 24/51 |
0.65421 (±0.00000) Rank: 26/51 |
LB | 7958.1 | — | 432.8 | 0.472 Rank: 37/51 |
0.765 Rank: 14/51 |
0.47821 (±0.00000) Rank: 35/51 |
0.56495 (±0.00000) Rank: 26/51 |
MC | 7828.2 | — | 690.5 | 0.525 Rank: 43/51 |
0.948 Rank: 9/51 |
0.44710 (±0.00000) Rank: 35/51 |
0.59267 (±0.00000) Rank: 5/51 |
MR | 7795.9 | — | 657.3 | 0.457 Rank: 43/51 |
0.966 Rank: 5/51 |
0.35553 (±0.00000) Rank: 3/51 |
0.47217 (±0.00000) Rank: 4/51 |
PSM | 7811.8 | — | 385.0 | 0.385 Rank: 46/51 |
0.769 Rank: 7/51 |
0.20201 (±0.00000) Rank: 13/51 |
0.34009 (±0.00000) Rank: 14/51 |
SF | 7900.7 | — | 792.5 | 0.479 Rank: 36/51 |
0.879 Rank: 4/51 |
0.54160 (±0.00000) Rank: 19/51 |
0.66530 (±0.00000) Rank: 19/51 |
SPC | 7871.1 | — | 681.8 | 0.487 Rank: 40/51 |
0.876 Rank: 5/51 |
0.48182 (±0.00000) Rank: 20/51 |
0.63853 (±0.00000) Rank: 17/51 |
Avg | 7865.0 | — | 625.4 | 0.471 Rank: 43/51 |
0.857 Rank: 6/51 |
0.42978 (±0.00000) Rank: 19/51 |
0.55026 (±0.00000) Rank: 23/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11033 over 9 scenes)
Rank (per category): 17 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7969.3 | 749.81 | 99.87 Rank: 14/51 |
4218.52 Rank: 20/51 |
5.195 Rank: 18/51 |
0.50664 Rank: 34/51 |
0.42901 (±0.00000) Rank: 37/51 |
0.58657 (±0.00000) Rank: 35/51 |
FCS | 7876.6 | 819.68 | 99.01 Rank: 7/51 |
5910.67 Rank: 19/51 |
4.781 Rank: 22/51 |
0.20715 Rank: 3/51 |
0.77990 (±0.00000) Rank: 3/51 |
0.83558 (±0.00000) Rank: 3/51 |
LMS | 7773.0 | 489.21 | 99.07 Rank: 29/51 |
4302.36 Rank: 20/51 |
4.588 Rank: 27/51 |
0.27803 Rank: 8/51 |
0.82943 (±0.00000) Rank: 17/51 |
0.87872 (±0.00000) Rank: 21/51 |
LB | 7958.1 | 527.83 | 98.36 Rank: 1/51 |
3859.54 Rank: 23/51 |
4.765 Rank: 26/51 |
0.45341 Rank: 2/51 |
0.75096 (±0.00000) Rank: 6/51 |
0.82943 (±0.00000) Rank: 4/51 |
MC | 7828.2 | 677.80 | 100.00 Rank: 1/51 |
4856.07 Rank: 21/51 |
4.976 Rank: 28/51 |
0.33031 Rank: 14/51 |
0.57511 (±0.00000) Rank: 9/51 |
0.71703 (±0.00000) Rank: 7/51 |
MR | 7795.9 | 659.34 | 92.67 Rank: 39/51 |
5263.16 Rank: 25/51 |
4.220 Rank: 36/51 |
0.47718 Rank: 15/51 |
0.46503 (±0.00000) Rank: 17/51 |
0.57450 (±0.00000) Rank: 19/51 |
PSM | 7811.8 | 378.28 | 98.52 Rank: 18/51 |
4757.25 Rank: 26/51 |
3.716 Rank: 26/51 |
0.40480 Rank: 15/51 |
0.58958 (±0.00000) Rank: 14/51 |
0.67469 (±0.00000) Rank: 14/51 |
SF | 7900.7 | 780.46 | 99.43 Rank: 18/51 |
6353.54 Rank: 24/51 |
4.739 Rank: 26/51 |
0.29833 Rank: 19/51 |
0.75339 (±0.00000) Rank: 20/51 |
0.83863 (±0.00000) Rank: 20/51 |
SPC | 7871.1 | 709.38 | 100.00 Rank: 1/51 |
5427.73 Rank: 17/51 |
4.854 Rank: 22/51 |
0.37401 Rank: 1/51 |
0.74242 (±0.00000) Rank: 11/51 |
0.83532 (±0.00000) Rank: 13/51 |
Avg | 7865.0 | 643.53 | 98.55 Rank: 22/51 |
4994.32 Rank: 21/51 |
4.648 Rank: 26/51 |
0.36998 Rank: 8/51 |
0.65720 (±0.00000) Rank: 15/51 |
0.75227 (±0.00000) Rank: 17/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.59985 (±0.00000 over 1 run(s) / ±0.05754 over 3 scenes)
Rank (per category): 24 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 559.0 | 0.121 Rank: 20/51 |
0.012 Rank: 8/51 |
0.39778 (±0.00000) Rank: 24/51 |
0.52843 (±0.00000) Rank: 24/51 |
Pond | 8000.0 | — | 649.4 | 0.152 Rank: 18/51 |
0.055 Rank: 15/51 |
0.53507 (±0.00000) Rank: 19/51 |
0.66934 (±0.00000) Rank: 18/51 |
Tree | 8000.0 | — | 370.4 | 0.106 Rank: 27/51 |
0.019 Rank: 27/51 |
0.50155 (±0.00000) Rank: 29/51 |
0.60177 (±0.00000) Rank: 29/51 |
Avg | 8000.0 | — | 526.3 | 0.126 Rank: 18/51 |
0.029 Rank: 7/51 |
0.47813 (±0.00000) Rank: 24/51 |
0.59985 (±0.00000) Rank: 24/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14933 over 3 scenes)
Rank (per category): 18 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 616.68 | 84.17 Rank: 19/51 |
1737.82 Rank: 27/51 |
3.227 Rank: 24/51 |
13.73332 Rank: 8/51 |
0.55033 (±0.00000) Rank: 20/51 |
0.63870 (±0.00000) Rank: 18/51 |
Pond | 8000.0 | 864.50 | 68.70 Rank: 24/51 |
2109.59 Rank: 23/51 |
2.898 Rank: 24/51 |
0.42417 Rank: 13/51 |
0.24707 (±0.00000) Rank: 30/51 |
0.27607 (±0.00000) Rank: 33/51 |
Tree | 8000.0 | 501.59 | 73.21 Rank: 8/51 |
1183.11 Rank: 20/51 |
2.944 Rank: 21/51 |
5.62085 Rank: 7/51 |
0.46116 (±0.00000) Rank: 13/51 |
0.49886 (±0.00000) Rank: 11/51 |
Avg | 8000.0 | 660.92 | 75.36 Rank: 16/51 |
1676.84 Rank: 25/51 |
3.023 Rank: 26/51 |
6.59278 Rank: 9/51 |
0.41952 (±0.00000) Rank: 21/51 |
0.47121 (±0.00000) Rank: 18/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.29371 (±0.00000 over 1 run(s) / ±0.11588 over 17 scenes)
Rank (per category): 20 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 6126.2 | — | 259.2 | 0.22411 (±0.00000) Rank: 16/51 |
0.35491 (±0.00000) Rank: 15/51 |
Bangkok (BGK) | 6403.9 | — | 282.9 | 0.05707 (±0.00000) Rank: 20/51 |
0.16030 (±0.00000) Rank: 19/51 |
Barcelona (BCN) | 5657.4 | — | 154.5 | 0.11355 (±0.00000) Rank: 16/51 |
0.19341 (±0.00000) Rank: 16/51 |
Buenos Aires (BAR) | 6586.7 | — | 233.5 | 0.17900 (±0.00000) Rank: 16/51 |
0.30137 (±0.00000) Rank: 18/51 |
Cambridge (CAM) | 6200.9 | — | 170.2 | 0.20479 (±0.00000) Rank: 16/51 |
0.32603 (±0.00000) Rank: 21/51 |
Cannes (CAN) | 5862.6 | — | 197.5 | 0.30323 (±0.00000) Rank: 24/51 |
0.40461 (±0.00000) Rank: 22/51 |
Chicago (CHI) | 5709.0 | — | 64.5 | 0.05383 (±0.00000) Rank: 22/51 |
0.10260 (±0.00000) Rank: 23/51 |
Helsinki (HEL) | 6653.0 | — | 399.5 | 0.33918 (±0.00000) Rank: 20/51 |
0.52680 (±0.00000) Rank: 20/51 |
Madrid (MAD) | 7031.3 | — | 191.4 | 0.06079 (±0.00000) Rank: 17/51 |
0.15380 (±0.00000) Rank: 14/51 |
Mountain View (MTV) | 6280.8 | — | 139.6 | 0.14297 (±0.00000) Rank: 18/51 |
0.23223 (±0.00000) Rank: 19/51 |
New Orleans (NOR) | 6235.4 | — | 147.0 | 0.18521 (±0.00000) Rank: 21/51 |
0.24260 (±0.00000) Rank: 22/51 |
San Francisco (SF) | 6356.8 | — | 195.1 | 0.11864 (±0.00000) Rank: 19/51 |
0.21339 (±0.00000) Rank: 21/51 |
Singapore (SG) | 7303.6 | — | 196.2 | 0.24241 (±0.00000) Rank: 15/51 |
0.34114 (±0.00000) Rank: 15/51 |
Sydney (SYD) | 6676.7 | — | 194.7 | 0.23493 (±0.00000) Rank: 18/51 |
0.35415 (±0.00000) Rank: 19/51 |
Tokyo (TOK) | 6592.6 | — | 235.2 | 0.40196 (±0.00000) Rank: 19/51 |
0.52010 (±0.00000) Rank: 21/51 |
Toronto (TOR) | 7153.6 | — | 117.4 | 0.13200 (±0.00000) Rank: 20/51 |
0.24680 (±0.00000) Rank: 20/51 |
Zurich (ZRH) | 6010.7 | — | 241.7 | 0.22680 (±0.00000) Rank: 19/51 |
0.31890 (±0.00000) Rank: 16/51 |
Average (Avg) | 6402.4 | — | 201.2 | 0.18944 (±0.00000) Rank: 20/51 |
0.29371 (±0.00000) Rank: 20/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12853 over 17 scenes)
Rank (per category): 20 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 6126.2 | 152.54 | 77.73 Rank: 24/51 |
1384.85 Rank: 23/51 |
3.229 Rank: 23/51 |
20.86311 Rank: 8/51 |
0.24265 (±0.00000) Rank: 19/51 |
0.31072 (±0.00000) Rank: 22/51 |
BGK | 6403.9 | 182.70 | 90.80 Rank: 24/51 |
1902.45 Rank: 20/51 |
3.329 Rank: 21/51 |
14.33484 Rank: 20/51 |
0.02541 (±0.00000) Rank: 11/51 |
0.07657 (±0.00000) Rank: 16/51 |
BCN | 5657.4 | 89.14 | 75.33 Rank: 23/51 |
600.46 Rank: 25/51 |
3.344 Rank: 13/51 |
24.10008 Rank: 7/51 |
0.07513 (±0.00000) Rank: 23/51 |
0.11871 (±0.00000) Rank: 23/51 |
BAR | 6586.7 | 119.14 | 66.64 Rank: 21/51 |
743.41 Rank: 23/51 |
2.986 Rank: 20/51 |
12.26654 Rank: 11/51 |
0.06751 (±0.00000) Rank: 18/51 |
0.12330 (±0.00000) Rank: 18/51 |
CAM | 6200.9 | 95.65 | 69.82 Rank: 23/51 |
805.31 Rank: 23/51 |
2.882 Rank: 23/51 |
14.53807 Rank: 4/51 |
0.08833 (±0.00000) Rank: 24/51 |
0.13904 (±0.00000) Rank: 23/51 |
CAN | 5862.6 | 102.80 | 52.62 Rank: 24/51 |
357.86 Rank: 25/51 |
2.935 Rank: 21/51 |
7.16591 Rank: 3/51 |
0.00787 (±0.00000) Rank: 26/51 |
0.02613 (±0.00000) Rank: 25/51 |
CHI | 5709.0 | 57.11 | 57.40 Rank: 24/51 |
137.91 Rank: 26/51 |
3.258 Rank: 23/51 |
29.74583 Rank: 3/51 |
0.01242 (±0.00000) Rank: 23/51 |
0.02881 (±0.00000) Rank: 24/51 |
HEL | 6653.0 | 281.19 | 93.06 Rank: 11/51 |
2659.25 Rank: 17/51 |
3.226 Rank: 23/51 |
14.51773 Rank: 27/51 |
0.30273 (±0.00000) Rank: 6/51 |
0.45872 (±0.00000) Rank: 1/51 |
MAD | 7031.3 | 115.52 | 80.91 Rank: 17/51 |
1266.69 Rank: 19/51 |
3.078 Rank: 20/51 |
5.46486 Rank: 16/51 |
0.04307 (±0.00000) Rank: 15/51 |
0.09629 (±0.00000) Rank: 16/51 |
MTV | 6280.8 | 96.03 | 80.25 Rank: 23/51 |
1025.84 Rank: 18/51 |
3.214 Rank: 21/51 |
13.74804 Rank: 10/51 |
0.13291 (±0.00000) Rank: 18/51 |
0.21843 (±0.00000) Rank: 20/51 |
NOR | 6235.4 | 93.64 | 54.58 Rank: 23/51 |
367.54 Rank: 25/51 |
2.766 Rank: 21/51 |
5.85816 Rank: 5/51 |
0.05575 (±0.00000) Rank: 22/51 |
0.08505 (±0.00000) Rank: 23/51 |
SF | 6356.8 | 109.69 | 75.24 Rank: 22/51 |
804.38 Rank: 25/51 |
3.087 Rank: 20/51 |
12.33402 Rank: 7/51 |
0.10769 (±0.00000) Rank: 21/51 |
0.17191 (±0.00000) Rank: 21/51 |
SG | 7303.6 | 116.21 | 60.78 Rank: 22/51 |
682.42 Rank: 22/51 |
2.723 Rank: 27/51 |
10.72361 Rank: 4/51 |
0.07616 (±0.00000) Rank: 18/51 |
0.10870 (±0.00000) Rank: 21/51 |
SYD | 6676.7 | 107.19 | 69.40 Rank: 22/51 |
726.03 Rank: 19/51 |
3.060 Rank: 17/51 |
12.86425 Rank: 12/51 |
0.14097 (±0.00000) Rank: 17/51 |
0.19502 (±0.00000) Rank: 17/51 |
TOK | 6592.6 | 141.32 | 81.90 Rank: 20/51 |
1522.98 Rank: 19/51 |
3.290 Rank: 17/51 |
9.81665 Rank: 8/51 |
0.40209 (±0.00000) Rank: 20/51 |
0.46800 (±0.00000) Rank: 19/51 |
TOR | 7153.6 | 65.12 | 69.73 Rank: 23/51 |
575.70 Rank: 21/51 |
3.000 Rank: 19/51 |
11.78440 Rank: 8/51 |
0.07156 (±0.00000) Rank: 16/51 |
0.12749 (±0.00000) Rank: 17/51 |
ZRH | 6010.7 | 135.22 | 69.68 Rank: 21/51 |
1040.43 Rank: 24/51 |
2.937 Rank: 22/51 |
13.60970 Rank: 9/51 |
0.02613 (±0.00000) Rank: 23/51 |
0.05627 (±0.00000) Rank: 23/51 |
Avg | 6402.4 | 121.19 | 72.11 Rank: 22/51 |
976.68 Rank: 22/51 |
3.079 Rank: 21/51 |
13.74916 Rank: 5/51 |
0.11049 (±0.00000) Rank: 20/51 |
0.16524 (±0.00000) Rank: 20/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/94de482da7197801-dog-affnet-hardnet8-degensac-adalam/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)