Submission ID: d03a05f1
DISK-depth
Processed: 21-06-16. Download link: d03a05f18aef66bf-disk-depth-8000.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: Michal Tyszkiewicz (contact)
- Keypoint: disk
- Descriptor: disk (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Official DISK submission with 8k features, using ratio test and cycle-consistent matching, with DEGENSAC.
- Paper: https://proceedings.neurips.cc/paper/2020/file/a42a596fc71e17828440030074d15e74-Paper.pdf
- Website: https://github.com/cvlab-epfl/disk
- Processing date: 21-06-16
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.55836 (±0.00000 over 1 run(s) / ±0.12318 over 9 scenes)
Rank (per category): 17 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7839.7 | 1990.9 | 1530.5 | 0.726 Rank: 4/51 |
0.956 Rank: 5/51 |
0.35123 (±0.00000) Rank: 9/51 |
0.49720 (±0.00000) Rank: 9/51 |
FCS | 7996.8 | 1864.7 | 1416.1 | 0.598 Rank: 1/51 |
0.893 Rank: 26/51 |
0.61618 (±0.00000) Rank: 27/51 |
0.72579 (±0.00000) Rank: 27/51 |
LMS | 7596.9 | 948.2 | 649.0 | 0.584 Rank: 8/51 |
0.695 Rank: 16/51 |
0.51702 (±0.00000) Rank: 28/51 |
0.62422 (±0.00000) Rank: 28/51 |
LB | 7433.2 | 1072.2 | 809.3 | 0.662 Rank: 10/51 |
0.781 Rank: 6/51 |
0.52743 (±0.00000) Rank: 9/51 |
0.62395 (±0.00000) Rank: 16/51 |
MC | 7887.4 | 2165.3 | 1703.4 | 0.749 Rank: 4/51 |
0.960 Rank: 6/51 |
0.42561 (±0.00000) Rank: 9/51 |
0.58186 (±0.00000) Rank: 10/51 |
MR | 7976.1 | 1996.3 | 1612.8 | 0.676 Rank: 1/51 |
0.956 Rank: 7/51 |
0.33251 (±0.00000) Rank: 15/51 |
0.44417 (±0.00000) Rank: 15/51 |
PSM | 7999.0 | 1141.2 | 871.1 | 0.565 Rank: 4/51 |
0.732 Rank: 10/51 |
0.16412 (±0.00000) Rank: 28/51 |
0.28545 (±0.00000) Rank: 28/51 |
SF | 7982.0 | 1870.3 | 1407.9 | 0.592 Rank: 2/51 |
0.841 Rank: 23/51 |
0.49051 (±0.00000) Rank: 28/51 |
0.61238 (±0.00000) Rank: 30/51 |
SPC | 7897.1 | 1546.7 | 1144.1 | 0.646 Rank: 4/51 |
0.857 Rank: 16/51 |
0.48494 (±0.00000) Rank: 18/51 |
0.63023 (±0.00000) Rank: 20/51 |
Avg | 7845.4 | 1621.8 | 1238.2 | 0.644 Rank: 3/51 |
0.852 Rank: 8/51 |
0.43439 (±0.00000) Rank: 17/51 |
0.55836 (±0.00000) Rank: 17/51 |
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/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09245 over 9 scenes)
Rank (per category): 19 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7839.7 | 2002.23 | 100.00 Rank: 1/51 |
6674.58 Rank: 10/51 |
6.647 Rank: 3/51 |
0.36896 Rank: 8/51 |
0.60176 (±0.00000) Rank: 4/51 |
0.73650 (±0.00000) Rank: 4/51 |
FCS | 7996.8 | 1927.29 | 97.53 Rank: 28/51 |
8545.17 Rank: 9/51 |
5.829 Rank: 1/51 |
0.28229 Rank: 32/51 |
0.71855 (±0.00000) Rank: 24/51 |
0.77682 (±0.00000) Rank: 27/51 |
LMS | 7596.9 | 1029.74 | 99.67 Rank: 7/51 |
5982.19 Rank: 9/51 |
5.342 Rank: 9/51 |
0.33580 Rank: 33/51 |
0.81000 (±0.00000) Rank: 23/51 |
0.86945 (±0.00000) Rank: 24/51 |
LB | 7433.2 | 1306.50 | 98.09 Rank: 21/51 |
5312.46 Rank: 12/51 |
6.150 Rank: 3/51 |
0.46546 Rank: 8/51 |
0.73907 (±0.00000) Rank: 9/51 |
0.81877 (±0.00000) Rank: 10/51 |
MC | 7887.4 | 2135.04 | 100.00 Rank: 1/51 |
7393.09 Rank: 8/51 |
6.736 Rank: 2/51 |
0.35562 Rank: 22/51 |
0.54815 (±0.00000) Rank: 21/51 |
0.69506 (±0.00000) Rank: 17/51 |
MR | 7976.1 | 1961.54 | 96.12 Rank: 6/51 |
8266.10 Rank: 8/51 |
5.914 Rank: 2/51 |
0.45865 Rank: 7/51 |
0.50053 (±0.00000) Rank: 3/51 |
0.62053 (±0.00000) Rank: 2/51 |
PSM | 7999.0 | 1136.85 | 98.20 Rank: 23/51 |
8712.85 Rank: 9/51 |
4.499 Rank: 10/51 |
0.53835 Rank: 29/51 |
0.49987 (±0.00000) Rank: 23/51 |
0.57290 (±0.00000) Rank: 24/51 |
SF | 7982.0 | 1841.08 | 97.51 Rank: 27/51 |
9122.96 Rank: 9/51 |
5.731 Rank: 3/51 |
0.31762 Rank: 29/51 |
0.73489 (±0.00000) Rank: 23/51 |
0.81175 (±0.00000) Rank: 25/51 |
SPC | 7897.1 | 1606.55 | 99.48 Rank: 25/51 |
7400.64 Rank: 10/51 |
6.038 Rank: 6/51 |
0.53311 Rank: 35/51 |
0.69898 (±0.00000) Rank: 25/51 |
0.79830 (±0.00000) Rank: 26/51 |
Avg | 7845.4 | 1660.76 | 98.51 Rank: 23/51 |
7490.01 Rank: 11/51 |
5.876 Rank: 4/51 |
0.40621 Rank: 23/51 |
0.65020 (±0.00000) Rank: 18/51 |
0.74445 (±0.00000) Rank: 19/51 |
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/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.56223 (±0.00000 over 1 run(s) / ±0.07487 over 3 scenes)
Rank (per category): 27 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | 1067.5 | 879.5 | 0.125 Rank: 15/51 |
0.009 Rank: 28/51 |
0.36255 (±0.00000) Rank: 29/51 |
0.47531 (±0.00000) Rank: 28/51 |
Pond | 8000.0 | 1314.0 | 1033.5 | 0.156 Rank: 15/51 |
0.055 Rank: 14/51 |
0.43006 (±0.00000) Rank: 28/51 |
0.55331 (±0.00000) Rank: 28/51 |
Tree | 8000.0 | 856.3 | 667.1 | 0.136 Rank: 12/51 |
0.021 Rank: 13/51 |
0.54658 (±0.00000) Rank: 24/51 |
0.65806 (±0.00000) Rank: 24/51 |
Avg | 8000.0 | 1079.2 | 860.0 | 0.139 Rank: 15/51 |
0.028 Rank: 11/51 |
0.44640 (±0.00000) Rank: 27/51 |
0.56223 (±0.00000) Rank: 27/51 |
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/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13555 over 3 scenes)
Rank (per category): 25 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 1327.97 | 83.50 Rank: 25/51 |
3922.59 Rank: 6/51 |
3.622 Rank: 1/51 |
13.83299 Rank: 12/51 |
0.52902 (±0.00000) Rank: 22/51 |
0.61521 (±0.00000) Rank: 23/51 |
Pond | 8000.0 | 1919.14 | 71.60 Rank: 7/51 |
4635.21 Rank: 3/51 |
3.258 Rank: 3/51 |
0.43318 Rank: 23/51 |
0.25273 (±0.00000) Rank: 26/51 |
0.28468 (±0.00000) Rank: 28/51 |
Tree | 8000.0 | 1137.54 | 71.83 Rank: 16/51 |
2651.22 Rank: 5/51 |
3.100 Rank: 7/51 |
6.02289 Rank: 22/51 |
0.43369 (±0.00000) Rank: 24/51 |
0.47711 (±0.00000) Rank: 20/51 |
Avg | 8000.0 | 1461.55 | 75.64 Rank: 10/51 |
3736.34 Rank: 3/51 |
3.327 Rank: 3/51 |
6.76302 Rank: 13/51 |
0.40515 (±0.00000) Rank: 26/51 |
0.45900 (±0.00000) Rank: 25/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.32956 (±0.00000 over 1 run(s) / ±0.12424 over 17 scenes)
Rank (per category): 16 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 7753.7 | 685.9 | 582.1 | 0.22679 (±0.00000) Rank: 14/51 |
0.34866 (±0.00000) Rank: 17/51 |
Bangkok (BGK) | 7332.1 | 733.8 | 597.2 | 0.07692 (±0.00000) Rank: 9/51 |
0.19280 (±0.00000) Rank: 10/51 |
Barcelona (BCN) | 7955.9 | 471.1 | 399.7 | 0.09670 (±0.00000) Rank: 21/51 |
0.19121 (±0.00000) Rank: 17/51 |
Buenos Aires (BAR) | 7951.9 | 621.9 | 529.9 | 0.22557 (±0.00000) Rank: 14/51 |
0.36849 (±0.00000) Rank: 12/51 |
Cambridge (CAM) | 6837.3 | 556.2 | 473.1 | 0.26575 (±0.00000) Rank: 14/51 |
0.38253 (±0.00000) Rank: 14/51 |
Cannes (CAN) | 7491.7 | 720.5 | 588.4 | 0.38986 (±0.00000) Rank: 16/51 |
0.49401 (±0.00000) Rank: 16/51 |
Chicago (CHI) | 7247.1 | 230.4 | 170.1 | 0.12978 (±0.00000) Rank: 17/51 |
0.20690 (±0.00000) Rank: 17/51 |
Helsinki (HEL) | 7791.1 | 1065.1 | 846.4 | 0.33969 (±0.00000) Rank: 19/51 |
0.53995 (±0.00000) Rank: 19/51 |
Madrid (MAD) | 7765.7 | 363.7 | 286.0 | 0.06565 (±0.00000) Rank: 14/51 |
0.14772 (±0.00000) Rank: 17/51 |
Mountain View (MTV) | 7699.8 | 328.9 | 260.2 | 0.14727 (±0.00000) Rank: 17/51 |
0.25352 (±0.00000) Rank: 17/51 |
New Orleans (NOR) | 7209.0 | 389.1 | 310.1 | 0.24024 (±0.00000) Rank: 12/51 |
0.30266 (±0.00000) Rank: 14/51 |
San Francisco (SF) | 6921.2 | 534.5 | 453.5 | 0.14803 (±0.00000) Rank: 17/51 |
0.25564 (±0.00000) Rank: 17/51 |
Singapore (SG) | 6992.6 | 471.5 | 360.5 | 0.22405 (±0.00000) Rank: 18/51 |
0.32278 (±0.00000) Rank: 18/51 |
Sydney (SYD) | 7635.7 | 460.9 | 348.0 | 0.27424 (±0.00000) Rank: 13/51 |
0.41092 (±0.00000) Rank: 13/51 |
Tokyo (TOK) | 7285.8 | 574.7 | 424.4 | 0.46814 (±0.00000) Rank: 14/51 |
0.60931 (±0.00000) Rank: 13/51 |
Toronto (TOR) | 7537.0 | 247.0 | 181.2 | 0.15760 (±0.00000) Rank: 15/51 |
0.29320 (±0.00000) Rank: 14/51 |
Zurich (ZRH) | 7480.8 | 427.6 | 332.1 | 0.22955 (±0.00000) Rank: 18/51 |
0.28213 (±0.00000) Rank: 22/51 |
Average (Avg) | 7464.0 | 522.5 | 420.2 | 0.21799 (±0.00000) Rank: 16/51 |
0.32956 (±0.00000) Rank: 16/51 |
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/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10050 over 17 scenes)
Rank (per category): 18 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 7753.7 | 401.80 | 81.09 Rank: 22/51 |
3038.33 Rank: 9/51 |
3.757 Rank: 5/51 |
22.08864 Rank: 11/51 |
0.22630 (±0.00000) Rank: 21/51 |
0.31618 (±0.00000) Rank: 19/51 |
BGK | 7332.1 | 480.05 | 94.80 Rank: 13/51 |
4774.22 Rank: 9/51 |
3.804 Rank: 3/51 |
14.11177 Rank: 19/51 |
0.02084 (±0.00000) Rank: 20/51 |
0.07078 (±0.00000) Rank: 21/51 |
BCN | 7955.9 | 270.14 | 83.20 Rank: 10/51 |
1767.40 Rank: 10/51 |
3.476 Rank: 9/51 |
27.56518 Rank: 19/51 |
0.09495 (±0.00000) Rank: 16/51 |
0.16375 (±0.00000) Rank: 16/51 |
BAR | 7951.9 | 334.88 | 78.39 Rank: 12/51 |
2161.88 Rank: 9/51 |
3.099 Rank: 14/51 |
15.24081 Rank: 18/51 |
0.12473 (±0.00000) Rank: 11/51 |
0.19390 (±0.00000) Rank: 11/51 |
CAM | 6837.3 | 319.61 | 80.78 Rank: 12/51 |
2691.43 Rank: 9/51 |
3.382 Rank: 6/51 |
25.15723 Rank: 20/51 |
0.10625 (±0.00000) Rank: 19/51 |
0.16358 (±0.00000) Rank: 19/51 |
CAN | 7491.7 | 388.39 | 74.02 Rank: 11/51 |
1506.57 Rank: 9/51 |
3.445 Rank: 4/51 |
19.92061 Rank: 19/51 |
0.06925 (±0.00000) Rank: 10/51 |
0.10990 (±0.00000) Rank: 10/51 |
CHI | 7247.1 | 198.12 | 86.72 Rank: 12/51 |
765.25 Rank: 9/51 |
4.899 Rank: 8/51 |
47.99906 Rank: 24/51 |
0.09974 (±0.00000) Rank: 12/51 |
0.17601 (±0.00000) Rank: 12/51 |
HEL | 7791.1 | 757.57 | 91.67 Rank: 14/51 |
5314.34 Rank: 8/51 |
3.668 Rank: 7/51 |
11.19858 Rank: 3/51 |
0.20231 (±0.00000) Rank: 26/51 |
0.32292 (±0.00000) Rank: 26/51 |
MAD | 7765.7 | 226.52 | 80.37 Rank: 19/51 |
1925.74 Rank: 13/51 |
3.414 Rank: 3/51 |
3.99682 Rank: 6/51 |
0.02379 (±0.00000) Rank: 25/51 |
0.06479 (±0.00000) Rank: 24/51 |
MTV | 7699.8 | 233.33 | 83.66 Rank: 16/51 |
1808.38 Rank: 13/51 |
3.699 Rank: 10/51 |
12.85267 Rank: 7/51 |
0.11934 (±0.00000) Rank: 20/51 |
0.22182 (±0.00000) Rank: 19/51 |
NOR | 7209.0 | 253.38 | 63.62 Rank: 17/51 |
1251.04 Rank: 11/51 |
3.032 Rank: 13/51 |
9.28906 Rank: 15/51 |
0.09947 (±0.00000) Rank: 14/51 |
0.14309 (±0.00000) Rank: 15/51 |
SF | 6921.2 | 304.87 | 80.37 Rank: 18/51 |
2145.28 Rank: 11/51 |
3.279 Rank: 15/51 |
11.39251 Rank: 6/51 |
0.11956 (±0.00000) Rank: 19/51 |
0.19734 (±0.00000) Rank: 19/51 |
SG | 6992.6 | 284.19 | 62.86 Rank: 20/51 |
1358.27 Rank: 12/51 |
3.229 Rank: 5/51 |
12.33158 Rank: 6/51 |
0.05427 (±0.00000) Rank: 23/51 |
0.08554 (±0.00000) Rank: 23/51 |
SYD | 7635.7 | 262.99 | 80.98 Rank: 11/51 |
1491.29 Rank: 11/51 |
3.351 Rank: 7/51 |
16.44573 Rank: 24/51 |
0.15716 (±0.00000) Rank: 15/51 |
0.24471 (±0.00000) Rank: 13/51 |
TOK | 7285.8 | 350.11 | 83.05 Rank: 19/51 |
3286.18 Rank: 9/51 |
3.608 Rank: 6/51 |
11.52320 Rank: 10/51 |
0.37527 (±0.00000) Rank: 21/51 |
0.43894 (±0.00000) Rank: 21/51 |
TOR | 7537.0 | 142.09 | 78.28 Rank: 12/51 |
1054.58 Rank: 14/51 |
3.226 Rank: 8/51 |
14.96775 Rank: 18/51 |
0.08364 (±0.00000) Rank: 15/51 |
0.15645 (±0.00000) Rank: 15/51 |
ZRH | 7480.8 | 251.63 | 65.90 Rank: 23/51 |
2005.17 Rank: 12/51 |
3.056 Rank: 13/51 |
12.52931 Rank: 5/51 |
0.01615 (±0.00000) Rank: 26/51 |
0.04611 (±0.00000) Rank: 25/51 |
Avg | 7464.0 | 321.16 | 79.40 Rank: 13/51 |
2255.61 Rank: 9/51 |
3.496 Rank: 7/51 |
16.97709 Rank: 18/51 |
0.11724 (±0.00000) Rank: 19/51 |
0.18328 (±0.00000) Rank: 18/51 |
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/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d03a05f18aef66bf-disk-depth-8000/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)