Submission ID: cf1f3bc2
MA-ALLEN-7F71617A
Processed: 21-06-12. Download link: cf1f3bc284a0bb7e-kis_ma.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: Lloyd (contact)
- Keypoint: kis
- Descriptor: kis (128 float32: 512 bytes)
- Number of features: 8000
- Summary: MA ALLEN in 7F71617A without outlier filter
- Paper: N/A
- Website: N/A
- Processing date: 21-06-12
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.03990 (±0.00000 over 1 run(s) / ±0.05679 over 9 scenes)
Rank (per category): 48 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 6278.6 | — | 524.5 | 0.682 Rank: 10/51 |
0.006 Rank: 47/51 |
0.00065 (±0.00000) Rank: 50/51 |
0.00108 (±0.00000) Rank: 50/51 |
FCS | 7386.1 | — | 287.9 | 0.556 Rank: 6/51 |
0.218 Rank: 50/51 |
0.02670 (±0.00000) Rank: 48/51 |
0.04343 (±0.00000) Rank: 48/51 |
LMS | 6403.7 | — | 238.4 | 0.533 Rank: 12/51 |
0.016 Rank: 47/51 |
0.00629 (±0.00000) Rank: 49/51 |
0.00850 (±0.00000) Rank: 49/51 |
LB | 5785.4 | — | 333.2 | 0.586 Rank: 16/51 |
0.001 Rank: 47/51 |
0.00000 (±0.00000) Rank: 50/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | — | 471.8 | 0.691 Rank: 7/51 |
0.028 Rank: 50/51 |
0.00743 (±0.00000) Rank: 50/51 |
0.01062 (±0.00000) Rank: 49/51 |
MR | 7403.5 | — | 300.5 | 0.640 Rank: 6/51 |
0.356 Rank: 49/51 |
0.07219 (±0.00000) Rank: 47/51 |
0.10344 (±0.00000) Rank: 47/51 |
PSM | 7260.8 | — | 172.0 | 0.538 Rank: 7/51 |
0.097 Rank: 49/51 |
0.00542 (±0.00000) Rank: 49/51 |
0.01044 (±0.00000) Rank: 50/51 |
SF | 7582.5 | — | 259.2 | 0.559 Rank: 8/51 |
0.464 Rank: 49/51 |
0.12818 (±0.00000) Rank: 48/51 |
0.17441 (±0.00000) Rank: 48/51 |
SPC | 6520.9 | — | 425.3 | 0.600 Rank: 9/51 |
0.024 Rank: 48/51 |
0.00459 (±0.00000) Rank: 48/51 |
0.00721 (±0.00000) Rank: 48/51 |
Avg | 6788.6 | — | 334.7 | 0.598 Rank: 7/51 |
0.135 Rank: 49/51 |
0.02794 (±0.00000) Rank: 48/51 |
0.03990 (±0.00000) Rank: 48/51 |
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/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13420 over 9 scenes)
Rank (per category): 50 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 6278.6 | 525.22 | 34.56 Rank: 47/51 |
365.44 Rank: 49/51 |
2.500 Rank: 47/51 |
1.27656 Rank: 46/51 |
0.00058 (±0.00000) Rank: 48/51 |
0.00146 (±0.00000) Rank: 48/51 |
FCS | 7386.1 | 304.14 | 57.84 Rank: 50/51 |
1173.67 Rank: 49/51 |
3.549 Rank: 45/51 |
0.52300 Rank: 50/51 |
0.14333 (±0.00000) Rank: 50/51 |
0.16581 (±0.00000) Rank: 50/51 |
LMS | 6403.7 | 260.74 | 36.39 Rank: 47/51 |
352.83 Rank: 49/51 |
2.735 Rank: 46/51 |
0.81816 Rank: 46/51 |
0.00619 (±0.00000) Rank: 49/51 |
0.00759 (±0.00000) Rank: 49/51 |
LB | 5785.4 | 404.78 | 0.00 Rank: 46/51 |
0.00 Rank: 46/51 |
0.000 Rank: 46/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 46/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | 461.43 | 36.94 Rank: 46/51 |
882.17 Rank: 49/51 |
2.708 Rank: 49/51 |
1.27011 Rank: 46/51 |
0.00896 (±0.00000) Rank: 49/51 |
0.01268 (±0.00000) Rank: 49/51 |
MR | 7403.5 | 300.85 | 64.50 Rank: 46/51 |
1526.23 Rank: 49/51 |
3.770 Rank: 44/51 |
0.53507 Rank: 37/51 |
0.13577 (±0.00000) Rank: 50/51 |
0.18123 (±0.00000) Rank: 50/51 |
PSM | 7260.8 | 169.80 | 48.22 Rank: 48/51 |
955.37 Rank: 49/51 |
2.888 Rank: 41/51 |
0.75803 Rank: 45/51 |
0.03759 (±0.00000) Rank: 49/51 |
0.05009 (±0.00000) Rank: 49/51 |
SF | 7582.5 | 253.60 | 75.45 Rank: 49/51 |
1667.40 Rank: 49/51 |
4.307 Rank: 37/51 |
0.41337 Rank: 50/51 |
0.37577 (±0.00000) Rank: 49/51 |
0.42349 (±0.00000) Rank: 49/51 |
SPC | 6520.9 | 442.05 | 38.62 Rank: 48/51 |
621.49 Rank: 49/51 |
2.641 Rank: 48/51 |
4.35671 Rank: 50/51 |
0.00491 (±0.00000) Rank: 46/51 |
0.00820 (±0.00000) Rank: 46/51 |
Avg | 6788.6 | 346.96 | 43.61 Rank: 46/51 |
838.29 Rank: 49/51 |
2.789 Rank: 48/51 |
1.24387 Rank: 48/51 |
0.07923 (±0.00000) Rank: 50/51 |
0.09450 (±0.00000) Rank: 50/51 |
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/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.17481 (±0.00000 over 1 run(s) / ±0.02108 over 3 scenes)
Rank (per category): 40 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 111.8 | 0.134 Rank: 6/51 |
0.004 Rank: 40/51 |
0.10985 (±0.00000) Rank: 40/51 |
0.15298 (±0.00000) Rank: 40/51 |
Pond | 8000.0 | — | 126.3 | 0.171 Rank: 5/51 |
0.058 Rank: 6/51 |
0.11623 (±0.00000) Rank: 40/51 |
0.16814 (±0.00000) Rank: 40/51 |
Tree | 8000.0 | — | 63.8 | 0.146 Rank: 1/51 |
0.018 Rank: 37/51 |
0.15320 (±0.00000) Rank: 40/51 |
0.20331 (±0.00000) Rank: 40/51 |
Avg | 8000.0 | — | 100.6 | 0.150 Rank: 1/51 |
0.027 Rank: 30/51 |
0.12643 (±0.00000) Rank: 40/51 |
0.17481 (±0.00000) Rank: 40/51 |
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/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10697 over 3 scenes)
Rank (per category): 38 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 145.09 | 76.31 Rank: 38/51 |
476.57 Rank: 39/51 |
3.211 Rank: 26/51 |
12.34864 Rank: 3/51 |
0.34600 (±0.00000) Rank: 38/51 |
0.43200 (±0.00000) Rank: 38/51 |
Pond | 8000.0 | 235.65 | 64.50 Rank: 38/51 |
657.84 Rank: 35/51 |
3.019 Rank: 17/51 |
0.39585 Rank: 3/51 |
0.18349 (±0.00000) Rank: 38/51 |
0.22807 (±0.00000) Rank: 38/51 |
Tree | 8000.0 | 88.43 | 61.11 Rank: 38/51 |
241.05 Rank: 39/51 |
2.876 Rank: 29/51 |
4.91064 Rank: 3/51 |
0.16658 (±0.00000) Rank: 38/51 |
0.18757 (±0.00000) Rank: 38/51 |
Avg | 8000.0 | 156.39 | 67.31 Rank: 38/51 |
458.49 Rank: 38/51 |
3.035 Rank: 24/51 |
5.88504 Rank: 3/51 |
0.23202 (±0.00000) Rank: 38/51 |
0.28254 (±0.00000) Rank: 38/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.00000 (±0.00000 over 1 run(s) / ±0.00000 over 17 scenes)
Rank (per category): 32 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4334.3 | — | 150.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Bangkok (BGK) | 3599.8 | — | 170.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Barcelona (BCN) | 4610.3 | — | 87.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Buenos Aires (BAR) | 4336.3 | — | 112.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Cambridge (CAM) | 3294.7 | — | 100.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Cannes (CAN) | 3459.3 | — | 139.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Chicago (CHI) | 4249.8 | — | 26.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 31/51 |
Helsinki (HEL) | 3841.1 | — | 218.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Madrid (MAD) | 4049.7 | — | 58.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Mountain View (MTV) | 4192.5 | — | 75.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
New Orleans (NOR) | 3727.1 | — | 62.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
San Francisco (SF) | 3565.9 | — | 109.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Singapore (SG) | 3334.7 | — | 106.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Sydney (SYD) | 3714.6 | — | 84.8 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Tokyo (TOK) | 3583.7 | — | 101.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Toronto (TOR) | 3940.2 | — | 40.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Zurich (ZRH) | 4461.8 | — | 118.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Average (Avg) | 3899.7 | — | 103.6 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 32/51 |
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/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.00000 over 17 scenes)
Rank (per category): 29 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4334.3 | 84.44 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BGK | 3599.8 | 106.50 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BCN | 4610.3 | 46.95 | 13.33 Rank: 29/51 |
1.33 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BAR | 4336.3 | 57.32 | 13.33 Rank: 29/51 |
18.00 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAM | 3294.7 | 54.42 | 13.33 Rank: 29/51 |
1.33 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAN | 3459.3 | 68.82 | 13.33 Rank: 29/51 |
1.67 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CHI | 4249.8 | 19.83 | 13.33 Rank: 30/51 |
2.67 Rank: 29/51 |
0.667 Rank: 30/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
HEL | 3841.1 | 150.71 | 0.00 Rank: 29/51 |
0.00 Rank: 29/51 |
0.000 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MAD | 4049.7 | 32.22 | 13.33 Rank: 29/51 |
30.00 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MTV | 4192.5 | 52.43 | 13.33 Rank: 29/51 |
2.17 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
NOR | 3727.1 | 38.90 | 13.33 Rank: 29/51 |
10.93 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SF | 3565.9 | 63.02 | 13.33 Rank: 29/51 |
11.00 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SG | 3334.7 | 61.55 | 13.33 Rank: 29/51 |
8.00 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SYD | 3714.6 | 44.04 | 13.33 Rank: 29/51 |
10.89 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOK | 3583.7 | 58.05 | 13.33 Rank: 29/51 |
3.67 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOR | 3940.2 | 21.06 | 20.00 Rank: 29/51 |
3.53 Rank: 31/51 |
1.333 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
ZRH | 4461.8 | 62.27 | 13.33 Rank: 29/51 |
7.67 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Avg | 3899.7 | 60.15 | 11.37 Rank: 30/51 |
6.64 Rank: 29/51 |
0.588 Rank: 30/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
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/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/cf1f3bc284a0bb7e-kis_ma/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)