Submission ID: 9832ec35
zoom matching v5
Processed: 21-06-05. Download link: 9832ec35325bb50a-zoom_matchingv5.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: Jiaming Sun, Xingyi He (contact)
- Keypoint: inverse
- Descriptor: inverse (128 float32: 512 bytes)
- Number of features: 8000
- Summary: inverse and zoom matching
- Paper: N/A
- Website: N/A
- Processing date: 21-06-05
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.62365 (±0.00000 over 1 run(s) / ±0.13390 over 9 scenes)
Rank (per category): 3 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7370.6 | — | 186.6 | 0.536 Rank: 29/51 |
0.949 Rank: 8/51 |
0.48975 (±0.00000) Rank: 4/51 |
0.64144 (±0.00000) Rank: 1/51 |
FCS | 7538.6 | — | 181.6 | 0.429 Rank: 41/51 |
0.930 Rank: 4/51 |
0.67072 (±0.00000) Rank: 7/51 |
0.78723 (±0.00000) Rank: 6/51 |
LMS | 6668.1 | — | 125.2 | 0.350 Rank: 45/51 |
0.721 Rank: 2/51 |
0.59090 (±0.00000) Rank: 10/51 |
0.70327 (±0.00000) Rank: 14/51 |
LB | 7174.1 | — | 217.0 | 0.675 Rank: 3/51 |
0.726 Rank: 23/51 |
0.55023 (±0.00000) Rank: 4/51 |
0.64256 (±0.00000) Rank: 5/51 |
MC | 7467.5 | — | 232.8 | 0.621 Rank: 24/51 |
0.925 Rank: 17/51 |
0.46045 (±0.00000) Rank: 4/51 |
0.60854 (±0.00000) Rank: 3/51 |
MR | 7183.4 | — | 178.6 | 0.486 Rank: 36/51 |
0.955 Rank: 10/51 |
0.33577 (±0.00000) Rank: 12/51 |
0.45666 (±0.00000) Rank: 9/51 |
PSM | 7412.8 | — | 127.0 | 0.421 Rank: 26/51 |
0.644 Rank: 28/51 |
0.21686 (±0.00000) Rank: 11/51 |
0.34207 (±0.00000) Rank: 12/51 |
SF | 6870.0 | — | 133.0 | 0.383 Rank: 49/51 |
0.863 Rank: 7/51 |
0.54721 (±0.00000) Rank: 14/51 |
0.67489 (±0.00000) Rank: 14/51 |
SPC | 7449.0 | — | 194.8 | 0.531 Rank: 24/51 |
0.867 Rank: 9/51 |
0.61812 (±0.00000) Rank: 1/51 |
0.75618 (±0.00000) Rank: 1/51 |
Avg | 7237.1 | — | 175.2 | 0.492 Rank: 28/51 |
0.842 Rank: 14/51 |
0.49778 (±0.00000) Rank: 3/51 |
0.62365 (±0.00000) Rank: 3/51 |
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/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.17676 over 9 scenes)
Rank (per category): 44 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7370.6 | 185.74 | 99.49 Rank: 42/51 |
3519.40 Rank: 26/51 |
3.395 Rank: 45/51 |
0.38145 Rank: 12/51 |
0.52091 (±0.00000) Rank: 18/51 |
0.63859 (±0.00000) Rank: 23/51 |
FCS | 7538.6 | 180.05 | 95.05 Rank: 43/51 |
3322.32 Rank: 41/51 |
3.331 Rank: 50/51 |
0.29088 Rank: 36/51 |
0.60229 (±0.00000) Rank: 43/51 |
0.64686 (±0.00000) Rank: 43/51 |
LMS | 6668.1 | 129.12 | 97.09 Rank: 40/51 |
1271.27 Rank: 41/51 |
4.273 Rank: 36/51 |
0.33973 Rank: 34/51 |
0.72139 (±0.00000) Rank: 44/51 |
0.78605 (±0.00000) Rank: 44/51 |
LB | 7174.1 | 241.16 | 96.99 Rank: 39/51 |
4028.64 Rank: 21/51 |
3.713 Rank: 44/51 |
0.49288 Rank: 29/51 |
0.69381 (±0.00000) Rank: 25/51 |
0.77860 (±0.00000) Rank: 30/51 |
MC | 7467.5 | 227.08 | 98.97 Rank: 44/51 |
4532.89 Rank: 30/51 |
3.490 Rank: 44/51 |
0.32010 Rank: 5/51 |
0.55640 (±0.00000) Rank: 17/51 |
0.68758 (±0.00000) Rank: 22/51 |
MR | 7183.4 | 171.28 | 86.35 Rank: 42/51 |
2979.86 Rank: 45/51 |
3.115 Rank: 46/51 |
0.61291 Rank: 49/51 |
0.32608 (±0.00000) Rank: 43/51 |
0.40533 (±0.00000) Rank: 43/51 |
PSM | 7412.8 | 121.83 | 80.00 Rank: 42/51 |
2081.01 Rank: 47/51 |
2.626 Rank: 47/51 |
0.93391 Rank: 50/51 |
0.18201 (±0.00000) Rank: 45/51 |
0.20588 (±0.00000) Rank: 45/51 |
SF | 6870.0 | 131.22 | 95.66 Rank: 38/51 |
2356.50 Rank: 47/51 |
3.384 Rank: 49/51 |
0.35915 Rank: 41/51 |
0.60053 (±0.00000) Rank: 41/51 |
0.66462 (±0.00000) Rank: 44/51 |
SPC | 7449.0 | 194.54 | 98.18 Rank: 36/51 |
3910.73 Rank: 32/51 |
3.328 Rank: 44/51 |
0.50362 Rank: 29/51 |
0.61512 (±0.00000) Rank: 41/51 |
0.68344 (±0.00000) Rank: 42/51 |
Avg | 7237.1 | 175.78 | 94.20 Rank: 42/51 |
3111.40 Rank: 37/51 |
3.406 Rank: 44/51 |
0.47051 Rank: 41/51 |
0.53539 (±0.00000) Rank: 40/51 |
0.61077 (±0.00000) Rank: 44/51 |
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/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.75614 (±0.00000 over 1 run(s) / ±0.07572 over 3 scenes)
Rank (per category): 5 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 7573.2 | — | 258.5 | 0.087 Rank: 28/51 |
0.012 Rank: 4/51 |
0.58613 (±0.00000) Rank: 7/51 |
0.70971 (±0.00000) Rank: 7/51 |
Pond | 7866.3 | — | 385.3 | 0.108 Rank: 33/51 |
0.044 Rank: 35/51 |
0.57515 (±0.00000) Rank: 6/51 |
0.69579 (±0.00000) Rank: 8/51 |
Tree | 7712.7 | — | 596.7 | 0.133 Rank: 13/51 |
0.020 Rank: 24/51 |
0.79338 (±0.00000) Rank: 6/51 |
0.86291 (±0.00000) Rank: 7/51 |
Avg | 7717.4 | — | 413.5 | 0.109 Rank: 26/51 |
0.025 Rank: 36/51 |
0.65155 (±0.00000) Rank: 5/51 |
0.75614 (±0.00000) Rank: 5/51 |
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/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08850 over 3 scenes)
Rank (per category): 24 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 7573.2 | 211.91 | 81.03 Rank: 37/51 |
656.10 Rank: 36/51 |
2.744 Rank: 36/51 |
13.96572 Rank: 16/51 |
0.46258 (±0.00000) Rank: 31/51 |
0.54394 (±0.00000) Rank: 32/51 |
Pond | 7866.3 | 324.41 | 71.47 Rank: 8/51 |
639.44 Rank: 36/51 |
2.327 Rank: 39/51 |
0.43591 Rank: 28/51 |
0.31027 (±0.00000) Rank: 4/51 |
0.33801 (±0.00000) Rank: 4/51 |
Tree | 7712.7 | 365.61 | 71.45 Rank: 21/51 |
996.89 Rank: 27/51 |
2.537 Rank: 36/51 |
6.32775 Rank: 34/51 |
0.47216 (±0.00000) Rank: 8/51 |
0.49964 (±0.00000) Rank: 10/51 |
Avg | 7717.4 | 300.64 | 74.65 Rank: 26/51 |
764.14 Rank: 35/51 |
2.536 Rank: 39/51 |
6.90979 Rank: 25/51 |
0.41500 (±0.00000) Rank: 24/51 |
0.46053 (±0.00000) Rank: 24/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40612 (±0.00000 over 1 run(s) / ±0.11051 over 17 scenes)
Rank (per category): 5 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 6889.5 | — | 1290.5 | 0.28750 (±0.00000) Rank: 3/51 |
0.42232 (±0.00000) Rank: 7/51 |
Bangkok (BGK) | 7398.9 | — | 1178.0 | 0.09132 (±0.00000) Rank: 4/51 |
0.23275 (±0.00000) Rank: 4/51 |
Barcelona (BCN) | 6647.2 | — | 881.6 | 0.13187 (±0.00000) Rank: 12/51 |
0.21575 (±0.00000) Rank: 12/51 |
Buenos Aires (BAR) | 6929.5 | — | 885.6 | 0.29315 (±0.00000) Rank: 3/51 |
0.43744 (±0.00000) Rank: 3/51 |
Cambridge (CAM) | 6556.5 | — | 920.0 | 0.30000 (±0.00000) Rank: 3/51 |
0.42774 (±0.00000) Rank: 6/51 |
Cannes (CAN) | 7021.6 | — | 1336.1 | 0.40645 (±0.00000) Rank: 12/51 |
0.49447 (±0.00000) Rank: 15/51 |
Chicago (CHI) | 6882.0 | — | 899.7 | 0.25574 (±0.00000) Rank: 1/51 |
0.38723 (±0.00000) Rank: 1/51 |
Helsinki (HEL) | 6538.4 | — | 865.3 | 0.38041 (±0.00000) Rank: 9/51 |
0.58299 (±0.00000) Rank: 11/51 |
Madrid (MAD) | 6848.4 | — | 947.0 | 0.11793 (±0.00000) Rank: 6/51 |
0.25350 (±0.00000) Rank: 5/51 |
Mountain View (MTV) | 6750.9 | — | 821.6 | 0.26836 (±0.00000) Rank: 2/51 |
0.41016 (±0.00000) Rank: 3/51 |
New Orleans (NOR) | 7289.3 | — | 745.0 | 0.30592 (±0.00000) Rank: 5/51 |
0.40000 (±0.00000) Rank: 8/51 |
San Francisco (SF) | 6875.7 | — | 797.5 | 0.22782 (±0.00000) Rank: 1/51 |
0.35381 (±0.00000) Rank: 3/51 |
Singapore (SG) | 7000.8 | — | 1029.9 | 0.30759 (±0.00000) Rank: 8/51 |
0.41741 (±0.00000) Rank: 9/51 |
Sydney (SYD) | 7031.9 | — | 836.9 | 0.33100 (±0.00000) Rank: 5/51 |
0.49651 (±0.00000) Rank: 7/51 |
Tokyo (TOK) | 6903.2 | — | 762.6 | 0.50294 (±0.00000) Rank: 8/51 |
0.65049 (±0.00000) Rank: 6/51 |
Toronto (TOR) | 6982.3 | — | 1064.3 | 0.22400 (±0.00000) Rank: 7/51 |
0.39200 (±0.00000) Rank: 7/51 |
Zurich (ZRH) | 6854.4 | — | 924.2 | 0.25223 (±0.00000) Rank: 10/51 |
0.32955 (±0.00000) Rank: 7/51 |
Average (Avg) | 6905.9 | — | 952.1 | 0.27554 (±0.00000) Rank: 5/51 |
0.40612 (±0.00000) Rank: 5/51 |
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/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12477 over 17 scenes)
Rank (per category): 5 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 6889.5 | 797.43 | 93.07 Rank: 5/51 |
6707.09 Rank: 3/51 |
3.604 Rank: 13/51 |
27.01995 Rank: 25/51 |
0.35211 (±0.00000) Rank: 8/51 |
0.48259 (±0.00000) Rank: 7/51 |
BGK | 7398.9 | 835.10 | 97.47 Rank: 3/51 |
8352.12 Rank: 3/51 |
3.625 Rank: 10/51 |
13.98083 Rank: 18/51 |
0.02800 (±0.00000) Rank: 8/51 |
0.09101 (±0.00000) Rank: 7/51 |
BCN | 6647.2 | 521.18 | 86.57 Rank: 8/51 |
3790.72 Rank: 1/51 |
3.336 Rank: 16/51 |
30.76234 Rank: 28/51 |
0.17484 (±0.00000) Rank: 3/51 |
0.27017 (±0.00000) Rank: 3/51 |
BAR | 6929.5 | 495.88 | 88.32 Rank: 6/51 |
4537.72 Rank: 1/51 |
3.252 Rank: 7/51 |
17.88324 Rank: 27/51 |
0.19181 (±0.00000) Rank: 2/51 |
0.29386 (±0.00000) Rank: 2/51 |
CAM | 6556.5 | 544.81 | 90.57 Rank: 2/51 |
4121.20 Rank: 4/51 |
3.177 Rank: 14/51 |
28.65285 Rank: 27/51 |
0.17461 (±0.00000) Rank: 7/51 |
0.25913 (±0.00000) Rank: 10/51 |
CAN | 7021.6 | 664.06 | 82.58 Rank: 5/51 |
3218.80 Rank: 5/51 |
3.277 Rank: 14/51 |
23.95943 Rank: 26/51 |
0.08301 (±0.00000) Rank: 8/51 |
0.13027 (±0.00000) Rank: 8/51 |
CHI | 6882.0 | 804.08 | 94.21 Rank: 2/51 |
2154.74 Rank: 2/51 |
4.836 Rank: 12/51 |
46.53937 Rank: 20/51 |
0.16644 (±0.00000) Rank: 3/51 |
0.26301 (±0.00000) Rank: 3/51 |
HEL | 6538.4 | 573.72 | 96.27 Rank: 2/51 |
6686.46 Rank: 5/51 |
3.264 Rank: 19/51 |
13.78544 Rank: 22/51 |
0.27525 (±0.00000) Rank: 16/51 |
0.42463 (±0.00000) Rank: 14/51 |
MAD | 6848.4 | 582.09 | 92.33 Rank: 5/51 |
5981.30 Rank: 1/51 |
3.214 Rank: 11/51 |
5.46982 Rank: 17/51 |
0.07753 (±0.00000) Rank: 6/51 |
0.15923 (±0.00000) Rank: 8/51 |
MTV | 6750.9 | 575.63 | 93.66 Rank: 1/51 |
5169.50 Rank: 1/51 |
3.699 Rank: 11/51 |
15.93571 Rank: 22/51 |
0.24324 (±0.00000) Rank: 7/51 |
0.37147 (±0.00000) Rank: 7/51 |
NOR | 7289.3 | 466.37 | 86.74 Rank: 4/51 |
3526.85 Rank: 3/51 |
3.201 Rank: 7/51 |
12.80078 Rank: 22/51 |
0.26210 (±0.00000) Rank: 4/51 |
0.34400 (±0.00000) Rank: 4/51 |
SF | 6875.7 | 485.58 | 94.33 Rank: 9/51 |
4439.12 Rank: 2/51 |
3.344 Rank: 9/51 |
21.06157 Rank: 27/51 |
0.22067 (±0.00000) Rank: 4/51 |
0.35065 (±0.00000) Rank: 4/51 |
SG | 7000.8 | 613.53 | 79.35 Rank: 5/51 |
3704.14 Rank: 1/51 |
3.061 Rank: 17/51 |
17.93488 Rank: 24/51 |
0.19253 (±0.00000) Rank: 5/51 |
0.26249 (±0.00000) Rank: 5/51 |
SYD | 7031.9 | 507.24 | 85.64 Rank: 7/51 |
3826.92 Rank: 1/51 |
3.077 Rank: 15/51 |
15.58194 Rank: 22/51 |
0.22356 (±0.00000) Rank: 6/51 |
0.31709 (±0.00000) Rank: 6/51 |
TOK | 6903.2 | 506.42 | 89.25 Rank: 9/51 |
6141.30 Rank: 3/51 |
3.324 Rank: 16/51 |
17.39376 Rank: 28/51 |
0.54844 (±0.00000) Rank: 8/51 |
0.62180 (±0.00000) Rank: 7/51 |
TOR | 6982.3 | 656.95 | 92.27 Rank: 5/51 |
6181.09 Rank: 2/51 |
3.088 Rank: 18/51 |
16.37864 Rank: 19/51 |
0.17755 (±0.00000) Rank: 5/51 |
0.30380 (±0.00000) Rank: 4/51 |
ZRH | 6854.4 | 565.53 | 84.65 Rank: 9/51 |
4319.17 Rank: 4/51 |
2.964 Rank: 20/51 |
19.22222 Rank: 24/51 |
0.14254 (±0.00000) Rank: 4/51 |
0.22954 (±0.00000) Rank: 5/51 |
Avg | 6905.9 | 599.74 | 89.84 Rank: 5/51 |
4874.01 Rank: 2/51 |
3.373 Rank: 13/51 |
20.25663 Rank: 26/51 |
0.20790 (±0.00000) Rank: 4/51 |
0.30440 (±0.00000) Rank: 5/51 |
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/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/9832ec35325bb50a-zoom_matchingv5/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)