Submission ID: c13b4f67
contextdesc8k_s_nonms
Processed: 21-06-11. Download link: c13b4f6711b505cb-contextdesc8k.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: Hongkai Chen (contact)
- Keypoint: cv2dog
- Descriptor: contextdesc8k (128 float32: 512 bytes)
- Number of features: 8000
- Summary: contextdesc8k_s_nonms
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.55395 (±0.00000 over 1 run(s) / ±0.14448 over 9 scenes)
Rank (per category): 20 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7963.7 | — | 964.9 | 0.517 Rank: 42/51 |
0.890 Rank: 39/51 |
0.17230 (±0.00000) Rank: 34/51 |
0.28411 (±0.00000) Rank: 34/51 |
FCS | 7838.6 | — | 1173.9 | 0.463 Rank: 32/51 |
0.880 Rank: 32/51 |
0.65852 (±0.00000) Rank: 14/51 |
0.77204 (±0.00000) Rank: 14/51 |
LMS | 7720.8 | — | 607.3 | 0.468 Rank: 24/51 |
0.666 Rank: 34/51 |
0.48956 (±0.00000) Rank: 30/51 |
0.59334 (±0.00000) Rank: 30/51 |
LB | 7947.2 | — | 666.2 | 0.493 Rank: 31/51 |
0.715 Rank: 32/51 |
0.48315 (±0.00000) Rank: 34/51 |
0.59444 (±0.00000) Rank: 21/51 |
MC | 7790.4 | — | 1140.0 | 0.551 Rank: 38/51 |
0.874 Rank: 35/51 |
0.41079 (±0.00000) Rank: 34/51 |
0.56245 (±0.00000) Rank: 18/51 |
MR | 7772.2 | — | 1073.8 | 0.479 Rank: 38/51 |
0.889 Rank: 38/51 |
0.33351 (±0.00000) Rank: 14/51 |
0.44506 (±0.00000) Rank: 14/51 |
PSM | 7776.7 | — | 851.8 | 0.406 Rank: 39/51 |
0.728 Rank: 11/51 |
0.24235 (±0.00000) Rank: 9/51 |
0.39940 (±0.00000) Rank: 9/51 |
SF | 7865.5 | — | 1323.3 | 0.498 Rank: 29/51 |
0.814 Rank: 30/51 |
0.57470 (±0.00000) Rank: 6/51 |
0.70457 (±0.00000) Rank: 5/51 |
SPC | 7858.0 | — | 1041.8 | 0.501 Rank: 34/51 |
0.797 Rank: 35/51 |
0.46620 (±0.00000) Rank: 22/51 |
0.63017 (±0.00000) Rank: 21/51 |
Avg | 7837.0 | — | 982.6 | 0.486 Rank: 36/51 |
0.806 Rank: 31/51 |
0.42568 (±0.00000) Rank: 22/51 |
0.55395 (±0.00000) Rank: 20/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, 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/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10267 over 9 scenes)
Rank (per category): 14 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7963.7 | 963.11 | 99.65 Rank: 36/51 |
5505.86 Rank: 15/51 |
5.156 Rank: 20/51 |
0.57597 Rank: 44/51 |
0.40954 (±0.00000) Rank: 43/51 |
0.56401 (±0.00000) Rank: 43/51 |
FCS | 7838.6 | 1212.29 | 98.61 Rank: 13/51 |
8203.83 Rank: 12/51 |
4.917 Rank: 15/51 |
0.20524 Rank: 2/51 |
0.76666 (±0.00000) Rank: 12/51 |
0.82458 (±0.00000) Rank: 12/51 |
LMS | 7720.8 | 647.62 | 99.33 Rank: 17/51 |
5413.89 Rank: 11/51 |
4.588 Rank: 26/51 |
0.28901 Rank: 13/51 |
0.80076 (±0.00000) Rank: 29/51 |
0.85471 (±0.00000) Rank: 31/51 |
LB | 7947.2 | 794.39 | 98.23 Rank: 11/51 |
5279.86 Rank: 13/51 |
4.923 Rank: 22/51 |
0.49738 Rank: 33/51 |
0.72092 (±0.00000) Rank: 12/51 |
0.80972 (±0.00000) Rank: 13/51 |
MC | 7790.4 | 1127.00 | 100.00 Rank: 1/51 |
6781.34 Rank: 13/51 |
5.293 Rank: 24/51 |
0.35779 Rank: 25/51 |
0.53759 (±0.00000) Rank: 23/51 |
0.69056 (±0.00000) Rank: 20/51 |
MR | 7772.2 | 1072.88 | 97.60 Rank: 1/51 |
7976.78 Rank: 11/51 |
4.683 Rank: 19/51 |
0.44593 Rank: 1/51 |
0.50101 (±0.00000) Rank: 2/51 |
0.61894 (±0.00000) Rank: 3/51 |
PSM | 7776.7 | 850.18 | 99.61 Rank: 9/51 |
8140.96 Rank: 12/51 |
4.246 Rank: 14/51 |
0.30891 Rank: 3/51 |
0.65984 (±0.00000) Rank: 5/51 |
0.74066 (±0.00000) Rank: 6/51 |
SF | 7865.5 | 1299.74 | 99.81 Rank: 8/51 |
9055.04 Rank: 10/51 |
5.006 Rank: 17/51 |
0.27867 Rank: 4/51 |
0.79175 (±0.00000) Rank: 4/51 |
0.86948 (±0.00000) Rank: 4/51 |
SPC | 7858.0 | 1082.67 | 99.93 Rank: 14/51 |
7391.62 Rank: 11/51 |
5.034 Rank: 19/51 |
0.41305 Rank: 9/51 |
0.71923 (±0.00000) Rank: 18/51 |
0.82316 (±0.00000) Rank: 16/51 |
Avg | 7837.0 | 1005.54 | 99.20 Rank: 2/51 |
7083.24 Rank: 12/51 |
4.872 Rank: 21/51 |
0.37466 Rank: 12/51 |
0.65637 (±0.00000) Rank: 16/51 |
0.75509 (±0.00000) Rank: 14/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.62663 (±0.00000 over 1 run(s) / ±0.06232 over 3 scenes)
Rank (per category): 21 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 710.4 | 0.145 Rank: 2/51 |
0.011 Rank: 16/51 |
0.40444 (±0.00000) Rank: 22/51 |
0.54258 (±0.00000) Rank: 23/51 |
Pond | 8000.0 | — | 705.8 | 0.171 Rank: 2/51 |
0.056 Rank: 11/51 |
0.49379 (±0.00000) Rank: 25/51 |
0.64569 (±0.00000) Rank: 21/51 |
Tree | 8000.0 | — | 513.4 | 0.126 Rank: 18/51 |
0.021 Rank: 14/51 |
0.56645 (±0.00000) Rank: 22/51 |
0.69161 (±0.00000) Rank: 22/51 |
Avg | 8000.0 | — | 643.2 | 0.147 Rank: 11/51 |
0.029 Rank: 3/51 |
0.48822 (±0.00000) Rank: 22/51 |
0.62663 (±0.00000) Rank: 21/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14613 over 3 scenes)
Rank (per category): 22 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 738.81 | 85.10 Rank: 16/51 |
2664.50 Rank: 17/51 |
3.239 Rank: 23/51 |
14.27294 Rank: 33/51 |
0.56609 (±0.00000) Rank: 14/51 |
0.65782 (±0.00000) Rank: 11/51 |
Pond | 8000.0 | 836.75 | 66.83 Rank: 34/51 |
2259.16 Rank: 19/51 |
2.873 Rank: 25/51 |
0.42043 Rank: 12/51 |
0.27667 (±0.00000) Rank: 13/51 |
0.30150 (±0.00000) Rank: 18/51 |
Tree | 8000.0 | 554.53 | 73.83 Rank: 3/51 |
1653.82 Rank: 14/51 |
3.027 Rank: 15/51 |
6.08213 Rank: 24/51 |
0.41298 (±0.00000) Rank: 29/51 |
0.45024 (±0.00000) Rank: 29/51 |
Avg | 8000.0 | 710.03 | 75.25 Rank: 17/51 |
2192.49 Rank: 17/51 |
3.046 Rank: 23/51 |
6.92517 Rank: 28/51 |
0.41858 (±0.00000) Rank: 22/51 |
0.46986 (±0.00000) Rank: 22/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.27717 (±0.00000 over 1 run(s) / ±0.11292 over 17 scenes)
Rank (per category): 21 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 5218.5 | — | 307.7 | 0.17679 (±0.00000) Rank: 21/51 |
0.30714 (±0.00000) Rank: 20/51 |
Bangkok (BGK) | 5463.6 | — | 351.1 | 0.04069 (±0.00000) Rank: 25/51 |
0.14069 (±0.00000) Rank: 22/51 |
Barcelona (BCN) | 4732.5 | — | 180.0 | 0.08278 (±0.00000) Rank: 24/51 |
0.14396 (±0.00000) Rank: 24/51 |
Buenos Aires (BAR) | 5610.5 | — | 268.8 | 0.14703 (±0.00000) Rank: 21/51 |
0.27397 (±0.00000) Rank: 23/51 |
Cambridge (CAM) | 5251.5 | — | 228.9 | 0.22603 (±0.00000) Rank: 21/51 |
0.34897 (±0.00000) Rank: 18/51 |
Cannes (CAN) | 5012.8 | — | 209.4 | 0.30691 (±0.00000) Rank: 23/51 |
0.39677 (±0.00000) Rank: 24/51 |
Chicago (CHI) | 4752.7 | — | 81.0 | 0.05096 (±0.00000) Rank: 25/51 |
0.09822 (±0.00000) Rank: 25/51 |
Helsinki (HEL) | 5821.0 | — | 444.3 | 0.26753 (±0.00000) Rank: 24/51 |
0.47294 (±0.00000) Rank: 24/51 |
Madrid (MAD) | 6070.5 | — | 265.6 | 0.06322 (±0.00000) Rank: 16/51 |
0.15258 (±0.00000) Rank: 15/51 |
Mountain View (MTV) | 5350.8 | — | 192.6 | 0.12461 (±0.00000) Rank: 22/51 |
0.21250 (±0.00000) Rank: 22/51 |
New Orleans (NOR) | 5305.7 | — | 172.3 | 0.20000 (±0.00000) Rank: 18/51 |
0.27781 (±0.00000) Rank: 18/51 |
San Francisco (SF) | 5385.9 | — | 243.6 | 0.11496 (±0.00000) Rank: 20/51 |
0.23045 (±0.00000) Rank: 19/51 |
Singapore (SG) | 6335.4 | — | 226.5 | 0.17278 (±0.00000) Rank: 24/51 |
0.28133 (±0.00000) Rank: 23/51 |
Sydney (SYD) | 5721.7 | — | 227.8 | 0.22358 (±0.00000) Rank: 20/51 |
0.32795 (±0.00000) Rank: 21/51 |
Tokyo (TOK) | 5738.5 | — | 297.4 | 0.38480 (±0.00000) Rank: 21/51 |
0.52230 (±0.00000) Rank: 20/51 |
Toronto (TOR) | 6215.6 | — | 173.7 | 0.10240 (±0.00000) Rank: 24/51 |
0.21400 (±0.00000) Rank: 24/51 |
Zurich (ZRH) | 5114.5 | — | 306.8 | 0.21993 (±0.00000) Rank: 21/51 |
0.31031 (±0.00000) Rank: 18/51 |
Average (Avg) | 5476.6 | — | 245.7 | 0.17088 (±0.00000) Rank: 23/51 |
0.27717 (±0.00000) Rank: 21/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. 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/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12742 over 17 scenes)
Rank (per category): 13 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 5218.5 | 187.32 | 86.98 Rank: 13/51 |
2012.94 Rank: 15/51 |
3.368 Rank: 19/51 |
22.79469 Rank: 13/51 |
0.26392 (±0.00000) Rank: 15/51 |
0.37556 (±0.00000) Rank: 14/51 |
BGK | 5463.6 | 239.63 | 94.00 Rank: 15/51 |
2769.71 Rank: 14/51 |
3.346 Rank: 19/51 |
13.31863 Rank: 16/51 |
0.02384 (±0.00000) Rank: 14/51 |
0.07822 (±0.00000) Rank: 15/51 |
BCN | 4732.5 | 106.42 | 80.43 Rank: 14/51 |
933.84 Rank: 22/51 |
3.361 Rank: 12/51 |
26.66338 Rank: 16/51 |
0.08276 (±0.00000) Rank: 20/51 |
0.13869 (±0.00000) Rank: 19/51 |
BAR | 5610.5 | 140.77 | 73.39 Rank: 14/51 |
1106.99 Rank: 14/51 |
3.071 Rank: 16/51 |
13.62486 Rank: 14/51 |
0.10819 (±0.00000) Rank: 13/51 |
0.17820 (±0.00000) Rank: 13/51 |
CAM | 5251.5 | 132.41 | 80.59 Rank: 13/51 |
1450.06 Rank: 16/51 |
3.104 Rank: 17/51 |
21.48065 Rank: 13/51 |
0.16076 (±0.00000) Rank: 12/51 |
0.23621 (±0.00000) Rank: 12/51 |
CAN | 5012.8 | 109.25 | 60.19 Rank: 20/51 |
553.30 Rank: 17/51 |
2.987 Rank: 20/51 |
9.79087 Rank: 7/51 |
0.01567 (±0.00000) Rank: 23/51 |
0.04378 (±0.00000) Rank: 22/51 |
CHI | 4752.7 | 72.35 | 67.60 Rank: 23/51 |
248.66 Rank: 23/51 |
3.289 Rank: 22/51 |
37.66081 Rank: 6/51 |
0.01968 (±0.00000) Rank: 20/51 |
0.04680 (±0.00000) Rank: 21/51 |
HEL | 5821.0 | 309.58 | 92.94 Rank: 12/51 |
3344.25 Rank: 12/51 |
3.310 Rank: 14/51 |
13.66004 Rank: 21/51 |
0.29846 (±0.00000) Rank: 8/51 |
0.42469 (±0.00000) Rank: 13/51 |
MAD | 6070.5 | 163.75 | 86.64 Rank: 11/51 |
2126.79 Rank: 10/51 |
3.200 Rank: 13/51 |
4.06133 Rank: 7/51 |
0.06861 (±0.00000) Rank: 9/51 |
0.14557 (±0.00000) Rank: 11/51 |
MTV | 5350.8 | 134.84 | 87.13 Rank: 12/51 |
1623.26 Rank: 14/51 |
3.401 Rank: 17/51 |
16.01201 Rank: 23/51 |
0.15037 (±0.00000) Rank: 17/51 |
0.25770 (±0.00000) Rank: 16/51 |
NOR | 5305.7 | 112.95 | 67.90 Rank: 13/51 |
718.74 Rank: 17/51 |
2.831 Rank: 20/51 |
9.87580 Rank: 16/51 |
0.09195 (±0.00000) Rank: 18/51 |
0.14500 (±0.00000) Rank: 14/51 |
SF | 5385.9 | 139.22 | 85.09 Rank: 12/51 |
1432.51 Rank: 15/51 |
3.186 Rank: 18/51 |
16.38700 Rank: 17/51 |
0.15697 (±0.00000) Rank: 14/51 |
0.26095 (±0.00000) Rank: 12/51 |
SG | 6335.4 | 136.55 | 69.28 Rank: 13/51 |
982.59 Rank: 15/51 |
3.049 Rank: 18/51 |
13.42371 Rank: 10/51 |
0.07138 (±0.00000) Rank: 20/51 |
0.11804 (±0.00000) Rank: 18/51 |
SYD | 5721.7 | 130.54 | 74.73 Rank: 13/51 |
1055.43 Rank: 13/51 |
3.191 Rank: 10/51 |
13.55920 Rank: 16/51 |
0.18970 (±0.00000) Rank: 10/51 |
0.26166 (±0.00000) Rank: 10/51 |
TOK | 5738.5 | 178.26 | 87.39 Rank: 11/51 |
2293.64 Rank: 14/51 |
3.225 Rank: 21/51 |
11.77410 Rank: 12/51 |
0.43723 (±0.00000) Rank: 17/51 |
0.50960 (±0.00000) Rank: 17/51 |
TOR | 6215.6 | 105.15 | 76.16 Rank: 15/51 |
1145.61 Rank: 13/51 |
2.948 Rank: 21/51 |
11.42782 Rank: 7/51 |
0.09444 (±0.00000) Rank: 13/51 |
0.16012 (±0.00000) Rank: 14/51 |
ZRH | 5114.5 | 174.73 | 81.82 Rank: 13/51 |
1786.19 Rank: 15/51 |
3.123 Rank: 11/51 |
19.21360 Rank: 23/51 |
0.06246 (±0.00000) Rank: 15/51 |
0.12191 (±0.00000) Rank: 15/51 |
Avg | 5476.6 | 151.40 | 79.54 Rank: 12/51 |
1504.97 Rank: 14/51 |
3.176 Rank: 20/51 |
16.16050 Rank: 14/51 |
0.13508 (±0.00000) Rank: 16/51 |
0.20604 (±0.00000) Rank: 13/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/c13b4f6711b505cb-contextdesc8k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)