Submission ID: d13ed936
ss-dpth
Processed: 21-06-11. Download link: d13ed9369e3a9a28-ssadmix.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: yt (contact)
- Keypoint: spmadmix
- Descriptor: hsgmix (128 float32: 512 bytes)
- Number of features: 2048
- Summary:
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.59698 (±0.00000 over 1 run(s) / ±0.12761 over 9 scenes)
Rank (per category): 2 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 422.6 | 0.449 Rank: 58/87 |
0.892 Rank: 49/87 |
0.36181 (±0.00000) Rank: 3/87 |
0.51838 (±0.00000) Rank: 3/87 |
FCS | 2048.0 | — | 542.1 | 0.406 Rank: 42/87 |
0.870 Rank: 32/87 |
0.65874 (±0.00000) Rank: 12/87 |
0.77677 (±0.00000) Rank: 10/87 |
LMS | 2048.0 | — | 522.1 | 0.417 Rank: 40/87 |
0.677 Rank: 52/87 |
0.63090 (±0.00000) Rank: 5/87 |
0.75969 (±0.00000) Rank: 3/87 |
LB | 2048.0 | — | 400.7 | 0.391 Rank: 48/87 |
0.679 Rank: 62/87 |
0.48813 (±0.00000) Rank: 3/87 |
0.60496 (±0.00000) Rank: 26/87 |
MC | 2048.0 | — | 457.9 | 0.414 Rank: 46/87 |
0.852 Rank: 56/87 |
0.36742 (±0.00000) Rank: 3/87 |
0.52227 (±0.00000) Rank: 10/87 |
MR | 2048.0 | — | 421.9 | 0.379 Rank: 63/87 |
0.893 Rank: 44/87 |
0.28616 (±0.00000) Rank: 12/87 |
0.40209 (±0.00000) Rank: 11/87 |
PSM | 2048.0 | — | 413.1 | 0.330 Rank: 47/87 |
0.623 Rank: 15/87 |
0.27175 (±0.00000) Rank: 3/87 |
0.43781 (±0.00000) Rank: 3/87 |
SF | 2048.0 | — | 487.9 | 0.350 Rank: 63/87 |
0.781 Rank: 50/87 |
0.52071 (±0.00000) Rank: 5/87 |
0.66305 (±0.00000) Rank: 7/87 |
SPC | 2048.0 | — | 438.2 | 0.375 Rank: 61/87 |
0.795 Rank: 48/87 |
0.52490 (±0.00000) Rank: 14/87 |
0.68783 (±0.00000) Rank: 18/87 |
Avg | 2048.0 | — | 456.3 | 0.390 Rank: 58/87 |
0.785 Rank: 43/87 |
0.45672 (±0.00000) Rank: 2/87 |
0.59698 (±0.00000) Rank: 2/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09876 over 9 scenes)
Rank (per category): 2 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 422.80 | 99.80 Rank: 49/87 |
2313.22 Rank: 20/87 |
4.922 Rank: 41/87 |
0.33205 Rank: 2/87 |
0.60061 (±0.00000) Rank: 6/87 |
0.73672 (±0.00000) Rank: 4/87 |
FCS | 2048.0 | 550.00 | 98.07 Rank: 31/87 |
2804.72 Rank: 12/87 |
5.102 Rank: 24/87 |
0.24988 Rank: 36/87 |
0.76527 (±0.00000) Rank: 4/87 |
0.82178 (±0.00000) Rank: 4/87 |
LMS | 2048.0 | 545.80 | 99.47 Rank: 16/87 |
2230.69 Rank: 9/87 |
5.449 Rank: 44/87 |
0.29216 Rank: 36/87 |
0.86767 (±0.00000) Rank: 10/87 |
0.91661 (±0.00000) Rank: 8/87 |
LB | 2048.0 | 471.80 | 98.36 Rank: 1/87 |
2295.17 Rank: 7/87 |
5.184 Rank: 44/87 |
0.48006 Rank: 24/87 |
0.72898 (±0.00000) Rank: 9/87 |
0.81984 (±0.00000) Rank: 7/87 |
MC | 2048.0 | 449.65 | 100.00 Rank: 1/87 |
2420.86 Rank: 24/87 |
5.115 Rank: 42/87 |
0.32087 Rank: 7/87 |
0.56866 (±0.00000) Rank: 9/87 |
0.71314 (±0.00000) Rank: 8/87 |
MR | 2048.0 | 414.06 | 94.53 Rank: 37/87 |
2478.87 Rank: 17/87 |
4.696 Rank: 47/87 |
0.48022 Rank: 7/87 |
0.44539 (±0.00000) Rank: 13/87 |
0.56772 (±0.00000) Rank: 16/87 |
PSM | 2048.0 | 409.68 | 99.68 Rank: 8/87 |
2697.40 Rank: 17/87 |
4.584 Rank: 21/87 |
0.33311 Rank: 19/87 |
0.65303 (±0.00000) Rank: 14/87 |
0.74013 (±0.00000) Rank: 16/87 |
SF | 2048.0 | 480.35 | 100.00 Rank: 1/87 |
2923.96 Rank: 14/87 |
4.912 Rank: 41/87 |
0.27405 Rank: 5/87 |
0.78629 (±0.00000) Rank: 5/87 |
0.86769 (±0.00000) Rank: 5/87 |
SPC | 2048.0 | 448.76 | 100.00 Rank: 1/87 |
2502.19 Rank: 15/87 |
5.125 Rank: 41/87 |
0.42813 Rank: 21/87 |
0.76256 (±0.00000) Rank: 12/87 |
0.85162 (±0.00000) Rank: 13/87 |
Avg | 2048.0 | 465.88 | 98.88 Rank: 17/87 |
2518.56 Rank: 12/87 |
5.010 Rank: 39/87 |
0.35450 Rank: 5/87 |
0.68649 (±0.00000) Rank: 2/87 |
0.78169 (±0.00000) Rank: 2/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.75562 (±0.00000 over 1 run(s) / ±0.05755 over 3 scenes)
Rank (per category): 18 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 387.4 | 0.036 Rank: 27/87 |
0.011 Rank: 21/87 |
0.57614 (±0.00000) Rank: 25/87 |
0.70541 (±0.00000) Rank: 30/87 |
Pond | 2048.0 | — | 412.9 | 0.051 Rank: 34/87 |
0.046 Rank: 53/87 |
0.58477 (±0.00000) Rank: 23/87 |
0.72525 (±0.00000) Rank: 14/87 |
Tree | 2048.0 | — | 376.0 | 0.040 Rank: 15/87 |
0.023 Rank: 37/87 |
0.72053 (±0.00000) Rank: 20/87 |
0.83620 (±0.00000) Rank: 13/87 |
Avg | 2048.0 | — | 392.1 | 0.042 Rank: 20/87 |
0.027 Rank: 45/87 |
0.62715 (±0.00000) Rank: 21/87 |
0.75562 (±0.00000) Rank: 18/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.13944 over 3 scenes)
Rank (per category): 17 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 413.26 | 85.30 Rank: 19/87 |
1254.27 Rank: 17/87 |
3.402 Rank: 23/87 |
14.23737 Rank: 43/87 |
0.58069 (±0.00000) Rank: 33/87 |
0.66674 (±0.00000) Rank: 37/87 |
Pond | 2048.0 | 441.45 | 67.67 Rank: 43/87 |
1063.71 Rank: 12/87 |
2.878 Rank: 38/87 |
0.44354 Rank: 62/87 |
0.29167 (±0.00000) Rank: 17/87 |
0.32566 (±0.00000) Rank: 14/87 |
Tree | 2048.0 | 339.63 | 72.23 Rank: 12/87 |
846.96 Rank: 2/87 |
3.052 Rank: 15/87 |
6.27864 Rank: 65/87 |
0.44356 (±0.00000) Rank: 23/87 |
0.48079 (±0.00000) Rank: 25/87 |
Avg | 2048.0 | 398.11 | 75.07 Rank: 24/87 |
1054.98 Rank: 3/87 |
3.111 Rank: 23/87 |
6.98652 Rank: 58/87 |
0.43864 (±0.00000) Rank: 22/87 |
0.49106 (±0.00000) Rank: 17/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.41076 (±0.00000 over 1 run(s) / ±0.13352 over 17 scenes)
Rank (per category): 3 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 289.0 | 0.24643 (±0.00000) Rank: 23/87 |
0.39107 (±0.00000) Rank: 22/87 |
Bangkok (BGK) | 2044.0 | — | 425.4 | 0.05955 (±0.00000) Rank: 26/87 |
0.18437 (±0.00000) Rank: 11/87 |
Barcelona (BCN) | 2048.0 | — | 309.5 | 0.14359 (±0.00000) Rank: 2/87 |
0.22894 (±0.00000) Rank: 6/87 |
Buenos Aires (BAR) | 2048.0 | — | 292.8 | 0.23562 (±0.00000) Rank: 23/87 |
0.39589 (±0.00000) Rank: 6/87 |
Cambridge (CAM) | 2048.0 | — | 296.0 | 0.32808 (±0.00000) Rank: 23/87 |
0.47911 (±0.00000) Rank: 8/87 |
Cannes (CAN) | 2048.0 | — | 355.2 | 0.41014 (±0.00000) Rank: 8/87 |
0.52535 (±0.00000) Rank: 15/87 |
Chicago (CHI) | 2048.0 | — | 240.6 | 0.19932 (±0.00000) Rank: 23/87 |
0.33176 (±0.00000) Rank: 23/87 |
Helsinki (HEL) | 2048.0 | — | 549.8 | 0.37113 (±0.00000) Rank: 27/87 |
0.57732 (±0.00000) Rank: 19/87 |
Madrid (MAD) | 2048.0 | — | 212.3 | 0.09362 (±0.00000) Rank: 9/87 |
0.22067 (±0.00000) Rank: 5/87 |
Mountain View (MTV) | 2048.0 | — | 269.2 | 0.24648 (±0.00000) Rank: 14/87 |
0.38887 (±0.00000) Rank: 16/87 |
New Orleans (NOR) | 2048.0 | — | 226.8 | 0.28757 (±0.00000) Rank: 12/87 |
0.38817 (±0.00000) Rank: 20/87 |
San Francisco (SF) | 2048.0 | — | 343.7 | 0.21312 (±0.00000) Rank: 11/87 |
0.36430 (±0.00000) Rank: 13/87 |
Singapore (SG) | 2048.0 | — | 274.8 | 0.35823 (±0.00000) Rank: 2/87 |
0.48671 (±0.00000) Rank: 2/87 |
Sydney (SYD) | 2048.0 | — | 328.0 | 0.34323 (±0.00000) Rank: 17/87 |
0.50480 (±0.00000) Rank: 16/87 |
Tokyo (TOK) | 2048.0 | — | 376.1 | 0.60980 (±0.00000) Rank: 12/87 |
0.74412 (±0.00000) Rank: 16/87 |
Toronto (TOR) | 2048.0 | — | 234.7 | 0.21360 (±0.00000) Rank: 20/87 |
0.39240 (±0.00000) Rank: 12/87 |
Zurich (ZRH) | 2048.0 | — | 347.2 | 0.27148 (±0.00000) Rank: 18/87 |
0.37904 (±0.00000) Rank: 5/87 |
Average (Avg) | 2047.8 | — | 315.9 | 0.27241 (±0.00000) Rank: 8/87 |
0.41076 (±0.00000) Rank: 3/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14722 over 17 scenes)
Rank (per category): 4 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 191.93 | 94.00 Rank: 4/87 |
1469.39 Rank: 13/87 |
3.804 Rank: 23/87 |
25.53511 Rank: 35/87 |
0.38207 (±0.00000) Rank: 9/87 |
0.50627 (±0.00000) Rank: 7/87 |
BGK | 2044.0 | 296.43 | 97.33 Rank: 10/87 |
2747.98 Rank: 5/87 |
3.608 Rank: 39/87 |
11.87187 Rank: 12/87 |
0.03004 (±0.00000) Rank: 17/87 |
0.09699 (±0.00000) Rank: 9/87 |
BCN | 2048.0 | 185.09 | 85.38 Rank: 22/87 |
1369.87 Rank: 7/87 |
3.829 Rank: 10/87 |
29.63314 Rank: 45/87 |
0.16210 (±0.00000) Rank: 3/87 |
0.25231 (±0.00000) Rank: 3/87 |
BAR | 2048.0 | 172.73 | 86.41 Rank: 23/87 |
1340.07 Rank: 7/87 |
3.457 Rank: 12/87 |
16.90144 Rank: 42/87 |
0.17815 (±0.00000) Rank: 6/87 |
0.29474 (±0.00000) Rank: 3/87 |
CAM | 2048.0 | 187.54 | 90.53 Rank: 2/87 |
1436.96 Rank: 5/87 |
3.599 Rank: 12/87 |
29.20934 Rank: 46/87 |
0.20094 (±0.00000) Rank: 10/87 |
0.30094 (±0.00000) Rank: 9/87 |
CAN | 2048.0 | 197.66 | 80.77 Rank: 14/87 |
812.33 Rank: 30/87 |
3.651 Rank: 3/87 |
23.54930 Rank: 50/87 |
0.06813 (±0.00000) Rank: 26/87 |
0.12779 (±0.00000) Rank: 23/87 |
CHI | 2048.0 | 214.17 | 90.00 Rank: 15/87 |
692.93 Rank: 8/87 |
4.865 Rank: 15/87 |
49.25255 Rank: 49/87 |
0.15757 (±0.00000) Rank: 13/87 |
0.26030 (±0.00000) Rank: 13/87 |
HEL | 2048.0 | 393.42 | 94.67 Rank: 14/87 |
2404.35 Rank: 12/87 |
4.073 Rank: 12/87 |
14.29878 Rank: 27/87 |
0.33641 (±0.00000) Rank: 29/87 |
0.47668 (±0.00000) Rank: 22/87 |
MAD | 2048.0 | 136.81 | 90.52 Rank: 23/87 |
1507.56 Rank: 11/87 |
3.257 Rank: 36/87 |
7.08229 Rank: 42/87 |
0.10124 (±0.00000) Rank: 16/87 |
0.21192 (±0.00000) Rank: 16/87 |
MTV | 2048.0 | 196.08 | 92.33 Rank: 18/87 |
1599.82 Rank: 5/87 |
3.808 Rank: 29/87 |
17.19969 Rank: 42/87 |
0.29079 (±0.00000) Rank: 17/87 |
0.41909 (±0.00000) Rank: 19/87 |
NOR | 2048.0 | 147.64 | 87.73 Rank: 21/87 |
1242.47 Rank: 20/87 |
3.486 Rank: 6/87 |
13.46818 Rank: 34/87 |
0.28925 (±0.00000) Rank: 12/87 |
0.39518 (±0.00000) Rank: 9/87 |
SF | 2048.0 | 227.93 | 96.53 Rank: 10/87 |
1791.82 Rank: 11/87 |
3.806 Rank: 7/87 |
20.14288 Rank: 28/87 |
0.31487 (±0.00000) Rank: 5/87 |
0.46607 (±0.00000) Rank: 4/87 |
SG | 2048.0 | 171.20 | 78.58 Rank: 17/87 |
1257.11 Rank: 5/87 |
3.278 Rank: 31/87 |
18.20287 Rank: 35/87 |
0.25952 (±0.00000) Rank: 5/87 |
0.33637 (±0.00000) Rank: 5/87 |
SYD | 2048.0 | 204.71 | 88.73 Rank: 21/87 |
1603.73 Rank: 11/87 |
3.535 Rank: 27/87 |
22.05151 Rank: 39/87 |
0.30163 (±0.00000) Rank: 16/87 |
0.39094 (±0.00000) Rank: 14/87 |
TOK | 2048.0 | 236.90 | 92.27 Rank: 32/87 |
2131.31 Rank: 12/87 |
3.779 Rank: 13/87 |
14.22491 Rank: 17/87 |
0.64451 (±0.00000) Rank: 34/87 |
0.71296 (±0.00000) Rank: 34/87 |
TOR | 2048.0 | 148.11 | 88.80 Rank: 20/87 |
1483.89 Rank: 12/87 |
3.236 Rank: 21/87 |
16.94471 Rank: 26/87 |
0.20455 (±0.00000) Rank: 16/87 |
0.33100 (±0.00000) Rank: 18/87 |
ZRH | 2048.0 | 216.09 | 90.87 Rank: 10/87 |
1813.21 Rank: 15/87 |
3.553 Rank: 3/87 |
23.40416 Rank: 52/87 |
0.12573 (±0.00000) Rank: 15/87 |
0.20953 (±0.00000) Rank: 11/87 |
Avg | 2047.8 | 207.32 | 89.73 Rank: 16/87 |
1570.87 Rank: 9/87 |
3.684 Rank: 12/87 |
20.76310 Rank: 46/87 |
0.23809 (±0.00000) Rank: 7/87 |
0.34053 (±0.00000) Rank: 4/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d13ed9369e3a9a28-ssadmix/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)