Submission ID: d562f7cc
SP_SG_filter
Processed: 21-06-12. Download link: d562f7cca9b0acac-superpoint_superglue_filter.json.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: (contact)
- Keypoint: superpoint
- Descriptor: superpoint (1305 float32: 5220 bytes)
- Number of features: 2048
- Summary: Superpoint with 2048 features, using superglue matcher and outlier pre-filtering
- Paper: N/A
- Website: N/A
- Processing date: 21-06-12
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.44019 (±0.00000 over 1 run(s) / ±0.13074 over 9 scenes)
Rank (per category): 59 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 1537.0 | — | 137.4 | 0.408 Rank: 80/87 |
0.883 Rank: 56/87 |
0.25507 (±0.00000) Rank: 49/87 |
0.39020 (±0.00000) Rank: 51/87 |
FCS | 1906.2 | — | 207.6 | 0.360 Rank: 70/87 |
0.846 Rank: 61/87 |
0.50603 (±0.00000) Rank: 59/87 |
0.65346 (±0.00000) Rank: 55/87 |
LMS | 1120.6 | — | 170.8 | 0.347 Rank: 78/87 |
0.662 Rank: 65/87 |
0.45994 (±0.00000) Rank: 63/87 |
0.58848 (±0.00000) Rank: 61/87 |
LB | 1513.5 | — | 135.6 | 0.337 Rank: 74/87 |
0.705 Rank: 38/87 |
0.35385 (±0.00000) Rank: 49/87 |
0.48830 (±0.00000) Rank: 57/87 |
MC | 1759.7 | — | 153.6 | 0.373 Rank: 77/87 |
0.837 Rank: 71/87 |
0.20911 (±0.00000) Rank: 49/87 |
0.34095 (±0.00000) Rank: 73/87 |
MR | 1277.3 | — | 122.0 | 0.393 Rank: 56/87 |
0.881 Rank: 58/87 |
0.16632 (±0.00000) Rank: 77/87 |
0.25363 (±0.00000) Rank: 77/87 |
PSM | 1874.0 | — | 144.3 | 0.296 Rank: 69/87 |
0.606 Rank: 40/87 |
0.13793 (±0.00000) Rank: 52/87 |
0.26269 (±0.00000) Rank: 50/87 |
SF | 1761.6 | — | 196.5 | 0.338 Rank: 70/87 |
0.780 Rank: 51/87 |
0.33840 (±0.00000) Rank: 68/87 |
0.49526 (±0.00000) Rank: 66/87 |
SPC | 1737.8 | — | 143.6 | 0.330 Rank: 78/87 |
0.779 Rank: 63/87 |
0.32244 (±0.00000) Rank: 65/87 |
0.48877 (±0.00000) Rank: 62/87 |
Avg | 1609.7 | — | 156.8 | 0.354 Rank: 78/87 |
0.776 Rank: 58/87 |
0.30545 (±0.00000) Rank: 63/87 |
0.44019 (±0.00000) Rank: 59/87 |
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/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.11536 over 9 scenes)
Rank (per category): 47 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 1537.0 | 138.88 | 99.76 Rank: 54/87 |
1014.58 Rank: 71/87 |
5.135 Rank: 20/87 |
0.38525 Rank: 40/87 |
0.53452 (±0.00000) Rank: 45/87 |
0.67840 (±0.00000) Rank: 45/87 |
FCS | 1906.2 | 213.12 | 97.07 Rank: 58/87 |
1783.56 Rank: 61/87 |
4.834 Rank: 50/87 |
0.24121 Rank: 24/87 |
0.71829 (±0.00000) Rank: 51/87 |
0.78283 (±0.00000) Rank: 46/87 |
LMS | 1120.6 | 185.20 | 98.93 Rank: 56/87 |
1021.53 Rank: 77/87 |
5.925 Rank: 9/87 |
0.28626 Rank: 28/87 |
0.82827 (±0.00000) Rank: 41/87 |
0.88302 (±0.00000) Rank: 45/87 |
LB | 1513.5 | 164.66 | 97.72 Rank: 57/87 |
1081.38 Rank: 68/87 |
5.311 Rank: 30/87 |
0.50188 Rank: 59/87 |
0.66301 (±0.00000) Rank: 55/87 |
0.77000 (±0.00000) Rank: 54/87 |
MC | 1759.7 | 151.20 | 99.60 Rank: 61/87 |
1227.73 Rank: 63/87 |
4.984 Rank: 51/87 |
0.35955 Rank: 36/87 |
0.50794 (±0.00000) Rank: 55/87 |
0.65775 (±0.00000) Rank: 55/87 |
MR | 1277.3 | 120.52 | 92.67 Rank: 61/87 |
837.50 Rank: 79/87 |
5.094 Rank: 1/87 |
0.55402 Rank: 56/87 |
0.34605 (±0.00000) Rank: 63/87 |
0.47065 (±0.00000) Rank: 64/87 |
PSM | 1874.0 | 143.82 | 96.25 Rank: 48/87 |
1610.56 Rank: 69/87 |
4.235 Rank: 47/87 |
0.43132 Rank: 46/87 |
0.59209 (±0.00000) Rank: 46/87 |
0.67623 (±0.00000) Rank: 46/87 |
SF | 1761.6 | 192.91 | 98.60 Rank: 48/87 |
1721.44 Rank: 65/87 |
4.942 Rank: 32/87 |
0.31169 Rank: 56/87 |
0.72961 (±0.00000) Rank: 49/87 |
0.81715 (±0.00000) Rank: 48/87 |
SPC | 1737.8 | 149.37 | 99.66 Rank: 53/87 |
1330.08 Rank: 65/87 |
4.961 Rank: 51/87 |
0.51019 Rank: 59/87 |
0.70249 (±0.00000) Rank: 49/87 |
0.80997 (±0.00000) Rank: 49/87 |
Avg | 1609.7 | 162.19 | 97.81 Rank: 52/87 |
1292.04 Rank: 71/87 |
5.047 Rank: 33/87 |
0.39793 Rank: 46/87 |
0.62470 (±0.00000) Rank: 46/87 |
0.72733 (±0.00000) Rank: 47/87 |
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/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.61559 (±0.00000 over 1 run(s) / ±0.05184 over 3 scenes)
Rank (per category): 45 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 1488.2 | — | 106.8 | 0.028 Rank: 64/87 |
0.010 Rank: 40/87 |
0.40693 (±0.00000) Rank: 48/87 |
0.56990 (±0.00000) Rank: 48/87 |
Pond | 2001.3 | — | 139.6 | 0.048 Rank: 54/87 |
0.049 Rank: 27/87 |
0.44088 (±0.00000) Rank: 47/87 |
0.58878 (±0.00000) Rank: 43/87 |
Tree | 1896.6 | — | 88.2 | 0.028 Rank: 65/87 |
0.021 Rank: 46/87 |
0.54702 (±0.00000) Rank: 46/87 |
0.68808 (±0.00000) Rank: 46/87 |
Avg | 1795.4 | — | 111.6 | 0.034 Rank: 65/87 |
0.027 Rank: 50/87 |
0.46495 (±0.00000) Rank: 47/87 |
0.61559 (±0.00000) Rank: 45/87 |
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/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12932 over 3 scenes)
Rank (per category): 53 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 1488.2 | 130.45 | 82.19 Rank: 60/87 |
508.52 Rank: 65/87 |
3.228 Rank: 61/87 |
14.08225 Rank: 25/87 |
0.50998 (±0.00000) Rank: 59/87 |
0.59402 (±0.00000) Rank: 59/87 |
Pond | 2001.3 | 154.50 | 66.53 Rank: 60/87 |
384.93 Rank: 69/87 |
2.626 Rank: 69/87 |
0.41441 Rank: 9/87 |
0.25847 (±0.00000) Rank: 51/87 |
0.28160 (±0.00000) Rank: 55/87 |
Tree | 1896.6 | 86.38 | 72.36 Rank: 10/87 |
269.02 Rank: 67/87 |
2.858 Rank: 63/87 |
5.74809 Rank: 11/87 |
0.43729 (±0.00000) Rank: 28/87 |
0.48310 (±0.00000) Rank: 24/87 |
Avg | 1795.4 | 123.78 | 73.69 Rank: 58/87 |
387.49 Rank: 68/87 |
2.904 Rank: 68/87 |
6.74825 Rank: 17/87 |
0.40191 (±0.00000) Rank: 53/87 |
0.45291 (±0.00000) Rank: 53/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.31727 (±0.00000 over 1 run(s) / ±0.12514 over 17 scenes)
Rank (per category): 40 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 1727.7 | — | 113.1 | 0.13393 (±0.00000) Rank: 46/87 |
0.25580 (±0.00000) Rank: 46/87 |
Bangkok (BGK) | 1240.5 | — | 123.3 | 0.04318 (±0.00000) Rank: 44/87 |
0.11811 (±0.00000) Rank: 47/87 |
Barcelona (BCN) | 1185.7 | — | 104.3 | 0.08059 (±0.00000) Rank: 46/87 |
0.15824 (±0.00000) Rank: 43/87 |
Buenos Aires (BAR) | 1239.2 | — | 95.5 | 0.16621 (±0.00000) Rank: 46/87 |
0.31507 (±0.00000) Rank: 39/87 |
Cambridge (CAM) | 1196.3 | — | 83.0 | 0.20959 (±0.00000) Rank: 46/87 |
0.34555 (±0.00000) Rank: 43/87 |
Cannes (CAN) | 1164.0 | — | 106.4 | 0.34378 (±0.00000) Rank: 39/87 |
0.45023 (±0.00000) Rank: 39/87 |
Chicago (CHI) | 1178.6 | — | 58.6 | 0.14836 (±0.00000) Rank: 36/87 |
0.25260 (±0.00000) Rank: 36/87 |
Helsinki (HEL) | 1337.2 | — | 175.8 | 0.27423 (±0.00000) Rank: 44/87 |
0.45644 (±0.00000) Rank: 45/87 |
Madrid (MAD) | 1223.0 | — | 65.5 | 0.05593 (±0.00000) Rank: 43/87 |
0.13799 (±0.00000) Rank: 43/87 |
Mountain View (MTV) | 1093.4 | — | 76.8 | 0.16133 (±0.00000) Rank: 39/87 |
0.28750 (±0.00000) Rank: 39/87 |
New Orleans (NOR) | 1001.3 | — | 60.7 | 0.21834 (±0.00000) Rank: 39/87 |
0.31124 (±0.00000) Rank: 37/87 |
San Francisco (SF) | 1163.6 | — | 86.5 | 0.16325 (±0.00000) Rank: 37/87 |
0.29738 (±0.00000) Rank: 36/87 |
Singapore (SG) | 1175.7 | — | 87.3 | 0.24494 (±0.00000) Rank: 40/87 |
0.36234 (±0.00000) Rank: 40/87 |
Sydney (SYD) | 1331.1 | — | 111.3 | 0.22009 (±0.00000) Rank: 42/87 |
0.36376 (±0.00000) Rank: 41/87 |
Tokyo (TOK) | 1355.3 | — | 126.1 | 0.50637 (±0.00000) Rank: 39/87 |
0.66005 (±0.00000) Rank: 39/87 |
Toronto (TOR) | 1287.7 | — | 80.3 | 0.16080 (±0.00000) Rank: 39/87 |
0.30000 (±0.00000) Rank: 39/87 |
Zurich (ZRH) | 1156.6 | — | 102.0 | 0.23643 (±0.00000) Rank: 31/87 |
0.32131 (±0.00000) Rank: 35/87 |
Average (Avg) | 1238.6 | — | 97.5 | 0.19808 (±0.00000) Rank: 41/87 |
0.31727 (±0.00000) Rank: 40/87 |
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/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14674 over 17 scenes)
Rank (per category): 42 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 1727.7 | 71.75 | 78.08 Rank: 44/87 |
678.69 Rank: 46/87 |
3.563 Rank: 44/87 |
21.00748 Rank: 10/87 |
0.28632 (±0.00000) Rank: 39/87 |
0.36319 (±0.00000) Rank: 42/87 |
BGK | 1240.5 | 85.58 | 89.87 Rank: 48/87 |
970.15 Rank: 51/87 |
3.628 Rank: 34/87 |
10.75408 Rank: 5/87 |
0.02229 (±0.00000) Rank: 41/87 |
0.07107 (±0.00000) Rank: 43/87 |
BCN | 1185.7 | 63.57 | 76.03 Rank: 44/87 |
576.45 Rank: 44/87 |
3.601 Rank: 39/87 |
22.87339 Rank: 11/87 |
0.08720 (±0.00000) Rank: 40/87 |
0.14034 (±0.00000) Rank: 41/87 |
BAR | 1239.2 | 56.13 | 63.10 Rank: 46/87 |
334.33 Rank: 49/87 |
3.043 Rank: 46/87 |
12.18964 Rank: 10/87 |
0.06650 (±0.00000) Rank: 44/87 |
0.11510 (±0.00000) Rank: 44/87 |
CAM | 1196.3 | 51.87 | 68.63 Rank: 48/87 |
408.45 Rank: 51/87 |
3.249 Rank: 45/87 |
14.69149 Rank: 5/87 |
0.10584 (±0.00000) Rank: 45/87 |
0.15362 (±0.00000) Rank: 47/87 |
CAN | 1164.0 | 59.55 | 53.40 Rank: 50/87 |
234.56 Rank: 51/87 |
2.948 Rank: 50/87 |
8.59086 Rank: 3/87 |
0.01687 (±0.00000) Rank: 49/87 |
0.03751 (±0.00000) Rank: 49/87 |
CHI | 1178.6 | 51.72 | 68.29 Rank: 47/87 |
166.12 Rank: 48/87 |
3.803 Rank: 46/87 |
39.44469 Rank: 4/87 |
0.04295 (±0.00000) Rank: 41/87 |
0.08769 (±0.00000) Rank: 42/87 |
HEL | 1337.2 | 125.52 | 87.46 Rank: 47/87 |
1020.39 Rank: 51/87 |
3.903 Rank: 39/87 |
15.30655 Rank: 39/87 |
0.29524 (±0.00000) Rank: 37/87 |
0.42200 (±0.00000) Rank: 38/87 |
MAD | 1223.0 | 43.96 | 79.78 Rank: 44/87 |
503.23 Rank: 47/87 |
3.341 Rank: 11/87 |
4.57018 Rank: 13/87 |
0.05529 (±0.00000) Rank: 39/87 |
0.12186 (±0.00000) Rank: 42/87 |
MTV | 1093.4 | 53.84 | 84.98 Rank: 44/87 |
561.20 Rank: 48/87 |
3.811 Rank: 27/87 |
15.02112 Rank: 13/87 |
0.19554 (±0.00000) Rank: 40/87 |
0.30127 (±0.00000) Rank: 40/87 |
NOR | 1001.3 | 40.73 | 57.14 Rank: 45/87 |
243.77 Rank: 48/87 |
2.745 Rank: 50/87 |
6.06464 Rank: 3/87 |
0.06747 (±0.00000) Rank: 44/87 |
0.10869 (±0.00000) Rank: 44/87 |
SF | 1163.6 | 56.87 | 74.96 Rank: 47/87 |
464.35 Rank: 50/87 |
3.190 Rank: 48/87 |
13.54639 Rank: 6/87 |
0.12148 (±0.00000) Rank: 44/87 |
0.20082 (±0.00000) Rank: 45/87 |
SG | 1175.7 | 54.83 | 61.29 Rank: 47/87 |
325.67 Rank: 51/87 |
3.161 Rank: 41/87 |
13.63785 Rank: 8/87 |
0.09410 (±0.00000) Rank: 44/87 |
0.13360 (±0.00000) Rank: 45/87 |
SYD | 1331.1 | 68.34 | 69.35 Rank: 46/87 |
490.04 Rank: 46/87 |
3.102 Rank: 45/87 |
11.49121 Rank: 8/87 |
0.13553 (±0.00000) Rank: 43/87 |
0.19374 (±0.00000) Rank: 43/87 |
TOK | 1355.3 | 76.83 | 87.96 Rank: 41/87 |
874.95 Rank: 49/87 |
3.729 Rank: 26/87 |
12.11109 Rank: 11/87 |
0.56541 (±0.00000) Rank: 40/87 |
0.63039 (±0.00000) Rank: 40/87 |
TOR | 1287.7 | 50.67 | 79.44 Rank: 41/87 |
530.28 Rank: 43/87 |
3.211 Rank: 29/87 |
15.96611 Rank: 15/87 |
0.10316 (±0.00000) Rank: 41/87 |
0.18403 (±0.00000) Rank: 41/87 |
ZRH | 1156.6 | 64.07 | 76.49 Rank: 43/87 |
709.77 Rank: 48/87 |
3.186 Rank: 46/87 |
17.63401 Rank: 18/87 |
0.06540 (±0.00000) Rank: 40/87 |
0.11669 (±0.00000) Rank: 40/87 |
Avg | 1238.6 | 63.28 | 73.90 Rank: 44/87 |
534.85 Rank: 50/87 |
3.366 Rank: 45/87 |
14.99416 Rank: 9/87 |
0.13686 (±0.00000) Rank: 42/87 |
0.19892 (±0.00000) Rank: 42/87 |
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/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/d562f7cca9b0acac-superpoint_superglue_filter.json/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)