Submission ID: b71a50d4
mss_degensac
Processed: 21-05-31. Download link: b71a50d4ce4c9fb9-528json.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: Megvii 3D (contact)
- Keypoint: mss
- Descriptor: mss (128 float32: 512 bytes)
- Number of features: 2048
- Summary: mss degensac test
- Paper: N/A
- Website: N/A
- Processing date: 21-05-31
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.59098 (±0.00000 over 1 run(s) / ±0.12892 over 9 scenes)
Rank (per category): 11 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2046.0 | — | 414.4 | 0.470 Rank: 35/87 |
0.897 Rank: 35/87 |
0.35163 (±0.00000) Rank: 9/87 |
0.50643 (±0.00000) Rank: 9/87 |
FCS | 2046.8 | — | 541.1 | 0.418 Rank: 10/87 |
0.872 Rank: 24/87 |
0.65167 (±0.00000) Rank: 29/87 |
0.76968 (±0.00000) Rank: 28/87 |
LMS | 2048.0 | — | 554.8 | 0.449 Rank: 20/87 |
0.689 Rank: 34/87 |
0.62581 (±0.00000) Rank: 12/87 |
0.74573 (±0.00000) Rank: 13/87 |
LB | 2048.0 | — | 409.0 | 0.406 Rank: 20/87 |
0.705 Rank: 37/87 |
0.49663 (±0.00000) Rank: 9/87 |
0.61088 (±0.00000) Rank: 19/87 |
MC | 2048.0 | — | 452.6 | 0.429 Rank: 28/87 |
0.859 Rank: 47/87 |
0.36079 (±0.00000) Rank: 9/87 |
0.51692 (±0.00000) Rank: 14/87 |
MR | 2045.2 | — | 464.1 | 0.427 Rank: 33/87 |
0.901 Rank: 34/87 |
0.29025 (±0.00000) Rank: 5/87 |
0.40651 (±0.00000) Rank: 4/87 |
PSM | 2048.0 | — | 391.1 | 0.339 Rank: 38/87 |
0.617 Rank: 25/87 |
0.25258 (±0.00000) Rank: 14/87 |
0.41187 (±0.00000) Rank: 13/87 |
SF | 2048.0 | — | 520.3 | 0.377 Rank: 25/87 |
0.789 Rank: 37/87 |
0.51950 (±0.00000) Rank: 8/87 |
0.66293 (±0.00000) Rank: 8/87 |
SPC | 2048.0 | — | 433.2 | 0.386 Rank: 37/87 |
0.801 Rank: 30/87 |
0.52355 (±0.00000) Rank: 17/87 |
0.68791 (±0.00000) Rank: 17/87 |
Avg | 2047.3 | — | 464.5 | 0.411 Rank: 33/87 |
0.792 Rank: 28/87 |
0.45249 (±0.00000) Rank: 11/87 |
0.59098 (±0.00000) Rank: 11/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09591 over 9 scenes)
Rank (per category): 7 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2046.0 | 414.88 | 99.87 Rank: 32/87 |
2095.63 Rank: 27/87 |
5.017 Rank: 26/87 |
0.33642 Rank: 6/87 |
0.60102 (±0.00000) Rank: 3/87 |
0.73637 (±0.00000) Rank: 5/87 |
FCS | 2046.8 | 549.04 | 98.33 Rank: 16/87 |
2702.53 Rank: 20/87 |
5.152 Rank: 15/87 |
0.23341 Rank: 18/87 |
0.76876 (±0.00000) Rank: 2/87 |
0.82636 (±0.00000) Rank: 3/87 |
LMS | 2048.0 | 580.34 | 99.47 Rank: 16/87 |
2017.35 Rank: 27/87 |
5.857 Rank: 17/87 |
0.26942 Rank: 11/87 |
0.86519 (±0.00000) Rank: 13/87 |
0.91196 (±0.00000) Rank: 15/87 |
LB | 2048.0 | 487.08 | 98.36 Rank: 1/87 |
2130.51 Rank: 19/87 |
5.393 Rank: 24/87 |
0.48288 Rank: 28/87 |
0.72726 (±0.00000) Rank: 12/87 |
0.81773 (±0.00000) Rank: 11/87 |
MC | 2048.0 | 445.11 | 100.00 Rank: 1/87 |
2214.95 Rank: 34/87 |
5.256 Rank: 18/87 |
0.34292 Rank: 15/87 |
0.55562 (±0.00000) Rank: 26/87 |
0.70384 (±0.00000) Rank: 23/87 |
MR | 2045.2 | 457.37 | 96.00 Rank: 4/87 |
2308.51 Rank: 28/87 |
4.937 Rank: 13/87 |
0.48924 Rank: 12/87 |
0.45164 (±0.00000) Rank: 5/87 |
0.57479 (±0.00000) Rank: 7/87 |
PSM | 2048.0 | 388.32 | 99.41 Rank: 21/87 |
2541.44 Rank: 27/87 |
4.660 Rank: 7/87 |
0.29432 Rank: 1/87 |
0.65268 (±0.00000) Rank: 15/87 |
0.74075 (±0.00000) Rank: 15/87 |
SF | 2048.0 | 512.75 | 99.80 Rank: 27/87 |
2826.06 Rank: 23/87 |
5.099 Rank: 10/87 |
0.28068 Rank: 25/87 |
0.77911 (±0.00000) Rank: 24/87 |
0.86122 (±0.00000) Rank: 24/87 |
SPC | 2048.0 | 443.21 | 100.00 Rank: 1/87 |
2322.92 Rank: 30/87 |
5.203 Rank: 24/87 |
0.48123 Rank: 53/87 |
0.75040 (±0.00000) Rank: 31/87 |
0.84214 (±0.00000) Rank: 32/87 |
Avg | 2047.3 | 475.35 | 99.03 Rank: 6/87 |
2351.10 Rank: 26/87 |
5.175 Rank: 17/87 |
0.35673 Rank: 9/87 |
0.68352 (±0.00000) Rank: 7/87 |
0.77946 (±0.00000) Rank: 7/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.77134 (±0.00000 over 1 run(s) / ±0.04114 over 3 scenes)
Rank (per category): 10 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 400.5 | 0.035 Rank: 32/87 |
0.013 Rank: 10/87 |
0.62469 (±0.00000) Rank: 5/87 |
0.75104 (±0.00000) Rank: 7/87 |
Pond | 2048.0 | — | 420.3 | 0.048 Rank: 41/87 |
0.046 Rank: 57/87 |
0.60160 (±0.00000) Rank: 4/87 |
0.73427 (±0.00000) Rank: 3/87 |
Tree | 2048.0 | — | 274.3 | 0.029 Rank: 39/87 |
0.025 Rank: 18/87 |
0.73113 (±0.00000) Rank: 14/87 |
0.82870 (±0.00000) Rank: 20/87 |
Avg | 2048.0 | — | 365.0 | 0.038 Rank: 36/87 |
0.028 Rank: 17/87 |
0.65247 (±0.00000) Rank: 5/87 |
0.77134 (±0.00000) Rank: 10/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14261 over 3 scenes)
Rank (per category): 16 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 418.93 | 85.30 Rank: 19/87 |
1281.52 Rank: 13/87 |
3.342 Rank: 52/87 |
14.11287 Rank: 27/87 |
0.58438 (±0.00000) Rank: 26/87 |
0.66951 (±0.00000) Rank: 30/87 |
Pond | 2048.0 | 451.40 | 68.37 Rank: 34/87 |
1083.51 Rank: 8/87 |
2.859 Rank: 43/87 |
0.43483 Rank: 48/87 |
0.29416 (±0.00000) Rank: 13/87 |
0.32039 (±0.00000) Rank: 23/87 |
Tree | 2048.0 | 262.69 | 71.09 Rank: 35/87 |
613.24 Rank: 12/87 |
2.962 Rank: 42/87 |
5.97348 Rank: 29/87 |
0.45122 (±0.00000) Rank: 20/87 |
0.48466 (±0.00000) Rank: 21/87 |
Avg | 2048.0 | 377.67 | 74.92 Rank: 31/87 |
992.76 Rank: 10/87 |
3.054 Rank: 45/87 |
6.84039 Rank: 24/87 |
0.44325 (±0.00000) Rank: 14/87 |
0.49152 (±0.00000) Rank: 16/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.39700 (±0.00000 over 1 run(s) / ±0.13591 over 17 scenes)
Rank (per category): 25 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 292.6 | 0.25714 (±0.00000) Rank: 16/87 |
0.39643 (±0.00000) Rank: 21/87 |
Bangkok (BGK) | 2048.0 | — | 423.2 | 0.06154 (±0.00000) Rank: 24/87 |
0.17667 (±0.00000) Rank: 21/87 |
Barcelona (BCN) | 2046.3 | — | 297.6 | 0.11868 (±0.00000) Rank: 20/87 |
0.20366 (±0.00000) Rank: 26/87 |
Buenos Aires (BAR) | 2048.0 | — | 289.1 | 0.21553 (±0.00000) Rank: 16/87 |
0.36986 (±0.00000) Rank: 26/87 |
Cambridge (CAM) | 2047.6 | — | 298.2 | 0.28973 (±0.00000) Rank: 16/87 |
0.44247 (±0.00000) Rank: 29/87 |
Cannes (CAN) | 2048.0 | — | 359.2 | 0.41106 (±0.00000) Rank: 7/87 |
0.51935 (±0.00000) Rank: 20/87 |
Chicago (CHI) | 2048.0 | — | 247.0 | 0.20970 (±0.00000) Rank: 13/87 |
0.34945 (±0.00000) Rank: 9/87 |
Helsinki (HEL) | 2048.0 | — | 537.3 | 0.38041 (±0.00000) Rank: 18/87 |
0.58196 (±0.00000) Rank: 18/87 |
Madrid (MAD) | 2048.0 | — | 216.5 | 0.08511 (±0.00000) Rank: 22/87 |
0.18997 (±0.00000) Rank: 25/87 |
Mountain View (MTV) | 2048.0 | — | 267.6 | 0.21172 (±0.00000) Rank: 31/87 |
0.37012 (±0.00000) Rank: 30/87 |
New Orleans (NOR) | 2039.2 | — | 239.0 | 0.26923 (±0.00000) Rank: 30/87 |
0.37160 (±0.00000) Rank: 30/87 |
San Francisco (SF) | 2048.0 | — | 340.6 | 0.18688 (±0.00000) Rank: 30/87 |
0.33753 (±0.00000) Rank: 32/87 |
Singapore (SG) | 2048.0 | — | 276.2 | 0.32785 (±0.00000) Rank: 23/87 |
0.45665 (±0.00000) Rank: 22/87 |
Sydney (SYD) | 2048.0 | — | 319.0 | 0.33450 (±0.00000) Rank: 23/87 |
0.48821 (±0.00000) Rank: 25/87 |
Tokyo (TOK) | 2048.0 | — | 375.8 | 0.58971 (±0.00000) Rank: 32/87 |
0.73407 (±0.00000) Rank: 29/87 |
Toronto (TOR) | 2048.0 | — | 237.6 | 0.22720 (±0.00000) Rank: 14/87 |
0.38400 (±0.00000) Rank: 22/87 |
Zurich (ZRH) | 2048.0 | — | 349.1 | 0.27354 (±0.00000) Rank: 13/87 |
0.37698 (±0.00000) Rank: 10/87 |
Average (Avg) | 2047.4 | — | 315.6 | 0.26174 (±0.00000) Rank: 24/87 |
0.39700 (±0.00000) Rank: 25/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15410 over 17 scenes)
Rank (per category): 11 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 193.38 | 92.67 Rank: 14/87 |
1374.83 Rank: 26/87 |
3.713 Rank: 37/87 |
27.78027 Rank: 49/87 |
0.33724 (±0.00000) Rank: 34/87 |
0.45179 (±0.00000) Rank: 33/87 |
BGK | 2048.0 | 293.49 | 96.27 Rank: 31/87 |
2480.54 Rank: 20/87 |
3.683 Rank: 17/87 |
15.54488 Rank: 51/87 |
0.02782 (±0.00000) Rank: 26/87 |
0.08601 (±0.00000) Rank: 25/87 |
BCN | 2046.3 | 180.12 | 86.53 Rank: 11/87 |
1288.06 Rank: 21/87 |
3.858 Rank: 3/87 |
26.98052 Rank: 26/87 |
0.13648 (±0.00000) Rank: 21/87 |
0.21744 (±0.00000) Rank: 21/87 |
BAR | 2048.0 | 169.25 | 86.79 Rank: 20/87 |
1248.37 Rank: 18/87 |
3.461 Rank: 11/87 |
17.79324 Rank: 51/87 |
0.17575 (±0.00000) Rank: 9/87 |
0.29117 (±0.00000) Rank: 5/87 |
CAM | 2047.6 | 187.36 | 86.32 Rank: 27/87 |
1226.47 Rank: 26/87 |
3.549 Rank: 19/87 |
27.44295 Rank: 36/87 |
0.15230 (±0.00000) Rank: 31/87 |
0.23812 (±0.00000) Rank: 31/87 |
CAN | 2048.0 | 200.07 | 81.30 Rank: 10/87 |
1054.28 Rank: 5/87 |
3.553 Rank: 17/87 |
19.98495 Rank: 29/87 |
0.10121 (±0.00000) Rank: 5/87 |
0.16763 (±0.00000) Rank: 7/87 |
CHI | 2048.0 | 219.91 | 90.53 Rank: 11/87 |
675.66 Rank: 11/87 |
5.132 Rank: 4/87 |
48.57311 Rank: 44/87 |
0.17273 (±0.00000) Rank: 2/87 |
0.28165 (±0.00000) Rank: 3/87 |
HEL | 2048.0 | 381.61 | 94.67 Rank: 14/87 |
2297.47 Rank: 22/87 |
4.082 Rank: 9/87 |
14.71877 Rank: 31/87 |
0.35365 (±0.00000) Rank: 12/87 |
0.48942 (±0.00000) Rank: 13/87 |
MAD | 2048.0 | 139.90 | 89.96 Rank: 28/87 |
1448.40 Rank: 15/87 |
3.295 Rank: 19/87 |
6.22359 Rank: 31/87 |
0.09893 (±0.00000) Rank: 19/87 |
0.20800 (±0.00000) Rank: 19/87 |
MTV | 2048.0 | 196.49 | 93.11 Rank: 5/87 |
1533.12 Rank: 12/87 |
3.833 Rank: 17/87 |
15.82192 Rank: 18/87 |
0.30580 (±0.00000) Rank: 4/87 |
0.44457 (±0.00000) Rank: 5/87 |
NOR | 2039.2 | 155.53 | 89.52 Rank: 9/87 |
1270.98 Rank: 15/87 |
3.444 Rank: 12/87 |
13.67097 Rank: 39/87 |
0.28548 (±0.00000) Rank: 17/87 |
0.38387 (±0.00000) Rank: 14/87 |
SF | 2048.0 | 225.11 | 96.00 Rank: 17/87 |
1759.35 Rank: 18/87 |
3.761 Rank: 15/87 |
21.57690 Rank: 44/87 |
0.26936 (±0.00000) Rank: 29/87 |
0.41657 (±0.00000) Rank: 28/87 |
SG | 2048.0 | 172.85 | 78.07 Rank: 20/87 |
1107.92 Rank: 25/87 |
3.332 Rank: 26/87 |
16.27528 Rank: 17/87 |
0.23413 (±0.00000) Rank: 19/87 |
0.30764 (±0.00000) Rank: 19/87 |
SYD | 2048.0 | 197.02 | 88.41 Rank: 24/87 |
1593.25 Rank: 12/87 |
3.616 Rank: 13/87 |
22.22085 Rank: 41/87 |
0.34585 (±0.00000) Rank: 7/87 |
0.42818 (±0.00000) Rank: 9/87 |
TOK | 2048.0 | 236.17 | 94.13 Rank: 2/87 |
2086.63 Rank: 19/87 |
3.799 Rank: 9/87 |
14.79006 Rank: 43/87 |
0.67655 (±0.00000) Rank: 11/87 |
0.75566 (±0.00000) Rank: 3/87 |
TOR | 2048.0 | 149.80 | 88.21 Rank: 28/87 |
1455.12 Rank: 18/87 |
3.215 Rank: 28/87 |
18.61352 Rank: 44/87 |
0.19913 (±0.00000) Rank: 22/87 |
0.32537 (±0.00000) Rank: 24/87 |
ZRH | 2048.0 | 215.67 | 90.37 Rank: 16/87 |
1750.30 Rank: 21/87 |
3.474 Rank: 19/87 |
16.07011 Rank: 14/87 |
0.10274 (±0.00000) Rank: 28/87 |
0.17805 (±0.00000) Rank: 26/87 |
Avg | 2047.4 | 206.69 | 89.58 Rank: 19/87 |
1508.87 Rank: 19/87 |
3.694 Rank: 9/87 |
20.24011 Rank: 33/87 |
0.23383 (±0.00000) Rank: 11/87 |
0.33360 (±0.00000) Rank: 11/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/b71a50d4ce4c9fb9-528json/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)