Submission ID: dde8fce9
sp_woada_degeree_resize
Processed: 21-06-11. Download link: dde8fce910dedce6-degree.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: Weiyue Zhao (contact)
- Keypoint: sp
- Descriptor: sp (256 float32: 1024 bytes)
- Number of features: 2048
- Summary: we use degree and DEGENSAC to filter raw match on the resized images. It is trained on the MegaDepth training data without the test data in Phototourism.
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.56743 (±0.00000 over 1 run(s) / ±0.13329 over 9 scenes)
Rank (per category): 30 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2023.7 | — | 412.8 | 0.415 Rank: 76/87 |
0.859 Rank: 71/87 |
0.31654 (±0.00000) Rank: 30/87 |
0.47104 (±0.00000) Rank: 28/87 |
FCS | 2041.1 | — | 514.7 | 0.374 Rank: 58/87 |
0.864 Rank: 42/87 |
0.65092 (±0.00000) Rank: 30/87 |
0.76778 (±0.00000) Rank: 30/87 |
LMS | 2010.4 | — | 439.3 | 0.389 Rank: 54/87 |
0.690 Rank: 25/87 |
0.58027 (±0.00000) Rank: 28/87 |
0.71431 (±0.00000) Rank: 24/87 |
LB | 2008.3 | — | 373.8 | 0.369 Rank: 58/87 |
0.688 Rank: 53/87 |
0.46659 (±0.00000) Rank: 30/87 |
0.58775 (±0.00000) Rank: 35/87 |
MC | 2043.6 | — | 479.5 | 0.399 Rank: 60/87 |
0.843 Rank: 62/87 |
0.31826 (±0.00000) Rank: 30/87 |
0.47053 (±0.00000) Rank: 40/87 |
MR | 2005.7 | — | 422.1 | 0.376 Rank: 72/87 |
0.882 Rank: 53/87 |
0.26893 (±0.00000) Rank: 32/87 |
0.37981 (±0.00000) Rank: 32/87 |
PSM | 2043.2 | — | 380.6 | 0.295 Rank: 71/87 |
0.603 Rank: 41/87 |
0.23738 (±0.00000) Rank: 23/87 |
0.40133 (±0.00000) Rank: 19/87 |
SF | 2047.1 | — | 490.1 | 0.337 Rank: 73/87 |
0.774 Rank: 55/87 |
0.50384 (±0.00000) Rank: 29/87 |
0.64719 (±0.00000) Rank: 29/87 |
SPC | 2047.5 | — | 440.3 | 0.360 Rank: 66/87 |
0.792 Rank: 54/87 |
0.50519 (±0.00000) Rank: 30/87 |
0.66717 (±0.00000) Rank: 28/87 |
Avg | 2030.1 | — | 439.2 | 0.368 Rank: 67/87 |
0.777 Rank: 54/87 |
0.42755 (±0.00000) Rank: 30/87 |
0.56743 (±0.00000) Rank: 30/87 |
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/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10190 over 9 scenes)
Rank (per category): 28 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2023.7 | 413.77 | 99.81 Rank: 46/87 |
2369.51 Rank: 11/87 |
4.782 Rank: 60/87 |
0.37101 Rank: 32/87 |
0.57209 (±0.00000) Rank: 34/87 |
0.70751 (±0.00000) Rank: 36/87 |
FCS | 2041.1 | 519.94 | 97.60 Rank: 46/87 |
2852.59 Rank: 8/87 |
4.827 Rank: 52/87 |
0.23404 Rank: 19/87 |
0.75437 (±0.00000) Rank: 15/87 |
0.80690 (±0.00000) Rank: 21/87 |
LMS | 2010.4 | 457.00 | 99.60 Rank: 11/87 |
1923.77 Rank: 39/87 |
5.341 Rank: 51/87 |
0.33792 Rank: 68/87 |
0.83689 (±0.00000) Rank: 35/87 |
0.89114 (±0.00000) Rank: 35/87 |
LB | 2008.3 | 440.12 | 98.23 Rank: 32/87 |
2230.90 Rank: 14/87 |
5.053 Rank: 49/87 |
0.49083 Rank: 45/87 |
0.70931 (±0.00000) Rank: 37/87 |
0.80600 (±0.00000) Rank: 34/87 |
MC | 2043.6 | 472.62 | 100.00 Rank: 1/87 |
2518.09 Rank: 13/87 |
5.122 Rank: 39/87 |
0.35090 Rank: 26/87 |
0.55113 (±0.00000) Rank: 33/87 |
0.69624 (±0.00000) Rank: 32/87 |
MR | 2005.7 | 413.18 | 95.17 Rank: 20/87 |
2380.94 Rank: 25/87 |
4.713 Rank: 43/87 |
0.51347 Rank: 31/87 |
0.42698 (±0.00000) Rank: 32/87 |
0.54936 (±0.00000) Rank: 30/87 |
PSM | 2043.2 | 377.68 | 99.21 Rank: 30/87 |
2704.18 Rank: 14/87 |
4.394 Rank: 40/87 |
0.33350 Rank: 20/87 |
0.64720 (±0.00000) Rank: 21/87 |
0.73794 (±0.00000) Rank: 20/87 |
SF | 2047.1 | 482.19 | 99.95 Rank: 10/87 |
2981.16 Rank: 9/87 |
4.815 Rank: 52/87 |
0.26938 Rank: 1/87 |
0.79090 (±0.00000) Rank: 1/87 |
0.87255 (±0.00000) Rank: 1/87 |
SPC | 2047.5 | 450.15 | 100.00 Rank: 1/87 |
2543.44 Rank: 10/87 |
5.042 Rank: 47/87 |
0.46552 Rank: 44/87 |
0.75882 (±0.00000) Rank: 17/87 |
0.85102 (±0.00000) Rank: 16/87 |
Avg | 2030.1 | 447.41 | 98.84 Rank: 22/87 |
2500.51 Rank: 17/87 |
4.899 Rank: 52/87 |
0.37407 Rank: 34/87 |
0.67196 (±0.00000) Rank: 29/87 |
0.76874 (±0.00000) Rank: 28/87 |
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/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.73160 (±0.00000 over 1 run(s) / ±0.04191 over 3 scenes)
Rank (per category): 30 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 1883.7 | — | 278.1 | 0.032 Rank: 48/87 |
0.010 Rank: 25/87 |
0.57226 (±0.00000) Rank: 28/87 |
0.71401 (±0.00000) Rank: 25/87 |
Pond | 2048.0 | — | 288.6 | 0.047 Rank: 63/87 |
0.046 Rank: 61/87 |
0.54429 (±0.00000) Rank: 34/87 |
0.69138 (±0.00000) Rank: 35/87 |
Tree | 2048.0 | — | 180.5 | 0.028 Rank: 67/87 |
0.024 Rank: 35/87 |
0.66269 (±0.00000) Rank: 35/87 |
0.78940 (±0.00000) Rank: 33/87 |
Avg | 1993.2 | — | 249.0 | 0.035 Rank: 55/87 |
0.027 Rank: 49/87 |
0.59308 (±0.00000) Rank: 31/87 |
0.73160 (±0.00000) Rank: 30/87 |
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/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14274 over 3 scenes)
Rank (per category): 37 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 1883.7 | 306.21 | 85.30 Rank: 19/87 |
1005.72 Rank: 38/87 |
3.399 Rank: 26/87 |
14.22687 Rank: 40/87 |
0.57987 (±0.00000) Rank: 36/87 |
0.66682 (±0.00000) Rank: 36/87 |
Pond | 2048.0 | 324.90 | 68.53 Rank: 33/87 |
845.20 Rank: 43/87 |
2.877 Rank: 40/87 |
0.42811 Rank: 39/87 |
0.28351 (±0.00000) Rank: 34/87 |
0.31908 (±0.00000) Rank: 24/87 |
Tree | 2048.0 | 175.98 | 69.64 Rank: 58/87 |
403.50 Rank: 59/87 |
2.986 Rank: 31/87 |
5.85543 Rank: 18/87 |
0.42633 (±0.00000) Rank: 39/87 |
0.46152 (±0.00000) Rank: 41/87 |
Avg | 1993.2 | 269.03 | 74.49 Rank: 50/87 |
751.47 Rank: 46/87 |
3.088 Rank: 31/87 |
6.83680 Rank: 22/87 |
0.42990 (±0.00000) Rank: 37/87 |
0.48247 (±0.00000) Rank: 37/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.34793 (±0.00000 over 1 run(s) / ±0.12850 over 17 scenes)
Rank (per category): 36 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 1570.3 | — | 184.9 | 0.16161 (±0.00000) Rank: 41/87 |
0.30759 (±0.00000) Rank: 38/87 |
Bangkok (BGK) | 1120.8 | — | 204.6 | 0.04963 (±0.00000) Rank: 40/87 |
0.14367 (±0.00000) Rank: 41/87 |
Barcelona (BCN) | 1042.9 | — | 151.9 | 0.09744 (±0.00000) Rank: 37/87 |
0.18059 (±0.00000) Rank: 37/87 |
Buenos Aires (BAR) | 1125.8 | — | 154.8 | 0.16895 (±0.00000) Rank: 41/87 |
0.31416 (±0.00000) Rank: 40/87 |
Cambridge (CAM) | 1076.6 | — | 133.2 | 0.25068 (±0.00000) Rank: 41/87 |
0.39760 (±0.00000) Rank: 37/87 |
Cannes (CAN) | 1032.1 | — | 162.3 | 0.33641 (±0.00000) Rank: 40/87 |
0.46590 (±0.00000) Rank: 38/87 |
Chicago (CHI) | 1056.1 | — | 93.6 | 0.16325 (±0.00000) Rank: 35/87 |
0.28429 (±0.00000) Rank: 34/87 |
Helsinki (HEL) | 1203.1 | — | 271.4 | 0.29588 (±0.00000) Rank: 42/87 |
0.49665 (±0.00000) Rank: 42/87 |
Madrid (MAD) | 1121.2 | — | 116.4 | 0.06930 (±0.00000) Rank: 37/87 |
0.18267 (±0.00000) Rank: 29/87 |
Mountain View (MTV) | 987.7 | — | 135.2 | 0.19414 (±0.00000) Rank: 34/87 |
0.32812 (±0.00000) Rank: 34/87 |
New Orleans (NOR) | 911.1 | — | 103.3 | 0.22071 (±0.00000) Rank: 36/87 |
0.32278 (±0.00000) Rank: 35/87 |
San Francisco (SF) | 1036.7 | — | 153.6 | 0.18425 (±0.00000) Rank: 34/87 |
0.33885 (±0.00000) Rank: 30/87 |
Singapore (SG) | 1066.2 | — | 140.5 | 0.26076 (±0.00000) Rank: 38/87 |
0.39082 (±0.00000) Rank: 38/87 |
Sydney (SYD) | 1203.5 | — | 179.8 | 0.27598 (±0.00000) Rank: 35/87 |
0.43581 (±0.00000) Rank: 34/87 |
Tokyo (TOK) | 1224.6 | — | 212.7 | 0.55294 (±0.00000) Rank: 36/87 |
0.70123 (±0.00000) Rank: 36/87 |
Toronto (TOR) | 1166.0 | — | 141.5 | 0.16160 (±0.00000) Rank: 38/87 |
0.30040 (±0.00000) Rank: 38/87 |
Zurich (ZRH) | 1028.5 | — | 178.4 | 0.22543 (±0.00000) Rank: 38/87 |
0.32371 (±0.00000) Rank: 30/87 |
Average (Avg) | 1116.1 | — | 159.9 | 0.21582 (±0.00000) Rank: 38/87 |
0.34793 (±0.00000) Rank: 36/87 |
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/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15837 over 17 scenes)
Rank (per category): 35 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 1570.3 | 123.28 | 90.27 Rank: 37/87 |
1029.39 Rank: 43/87 |
3.685 Rank: 39/87 |
25.59253 Rank: 36/87 |
0.31117 (±0.00000) Rank: 36/87 |
0.42948 (±0.00000) Rank: 36/87 |
BGK | 1120.8 | 144.83 | 95.33 Rank: 36/87 |
1297.19 Rank: 41/87 |
3.634 Rank: 32/87 |
15.08163 Rank: 46/87 |
0.02195 (±0.00000) Rank: 43/87 |
0.06720 (±0.00000) Rank: 44/87 |
BCN | 1042.9 | 95.73 | 81.46 Rank: 36/87 |
737.68 Rank: 35/87 |
3.629 Rank: 37/87 |
25.57977 Rank: 18/87 |
0.10275 (±0.00000) Rank: 37/87 |
0.17713 (±0.00000) Rank: 36/87 |
BAR | 1125.8 | 95.39 | 78.98 Rank: 39/87 |
718.14 Rank: 41/87 |
3.218 Rank: 40/87 |
14.79307 Rank: 15/87 |
0.14730 (±0.00000) Rank: 31/87 |
0.24060 (±0.00000) Rank: 35/87 |
CAM | 1076.6 | 88.50 | 79.69 Rank: 40/87 |
608.05 Rank: 47/87 |
3.401 Rank: 41/87 |
20.97776 Rank: 12/87 |
0.14347 (±0.00000) Rank: 38/87 |
0.21725 (±0.00000) Rank: 38/87 |
CAN | 1032.1 | 93.26 | 72.77 Rank: 32/87 |
419.86 Rank: 40/87 |
3.226 Rank: 41/87 |
14.46497 Rank: 12/87 |
0.05621 (±0.00000) Rank: 33/87 |
0.09983 (±0.00000) Rank: 32/87 |
CHI | 1056.1 | 83.26 | 85.20 Rank: 33/87 |
255.27 Rank: 44/87 |
4.190 Rank: 32/87 |
45.49907 Rank: 16/87 |
0.08225 (±0.00000) Rank: 32/87 |
0.16145 (±0.00000) Rank: 32/87 |
HEL | 1203.1 | 198.01 | 93.73 Rank: 32/87 |
1462.97 Rank: 43/87 |
3.957 Rank: 37/87 |
13.97641 Rank: 23/87 |
0.34127 (±0.00000) Rank: 23/87 |
0.48403 (±0.00000) Rank: 15/87 |
MAD | 1121.2 | 80.45 | 89.37 Rank: 30/87 |
891.43 Rank: 38/87 |
3.192 Rank: 44/87 |
5.25822 Rank: 18/87 |
0.08210 (±0.00000) Rank: 33/87 |
0.18060 (±0.00000) Rank: 32/87 |
MTV | 987.7 | 99.69 | 90.93 Rank: 34/87 |
867.87 Rank: 39/87 |
3.742 Rank: 39/87 |
16.79368 Rank: 29/87 |
0.24121 (±0.00000) Rank: 36/87 |
0.36382 (±0.00000) Rank: 36/87 |
NOR | 911.1 | 71.96 | 72.41 Rank: 41/87 |
435.27 Rank: 43/87 |
3.057 Rank: 44/87 |
9.62067 Rank: 13/87 |
0.13339 (±0.00000) Rank: 39/87 |
0.20538 (±0.00000) Rank: 39/87 |
SF | 1036.7 | 105.23 | 91.60 Rank: 37/87 |
919.55 Rank: 38/87 |
3.584 Rank: 38/87 |
18.73615 Rank: 16/87 |
0.22974 (±0.00000) Rank: 35/87 |
0.37006 (±0.00000) Rank: 36/87 |
SG | 1066.2 | 90.53 | 72.00 Rank: 38/87 |
526.25 Rank: 45/87 |
3.337 Rank: 24/87 |
18.95091 Rank: 43/87 |
0.15315 (±0.00000) Rank: 38/87 |
0.21120 (±0.00000) Rank: 37/87 |
SYD | 1203.5 | 113.97 | 84.81 Rank: 37/87 |
993.40 Rank: 35/87 |
3.264 Rank: 41/87 |
19.90979 Rank: 25/87 |
0.24387 (±0.00000) Rank: 35/87 |
0.33860 (±0.00000) Rank: 35/87 |
TOK | 1224.6 | 134.26 | 93.07 Rank: 20/87 |
1357.46 Rank: 40/87 |
3.643 Rank: 39/87 |
14.49551 Rank: 32/87 |
0.66325 (±0.00000) Rank: 25/87 |
0.73563 (±0.00000) Rank: 24/87 |
TOR | 1166.0 | 95.73 | 87.27 Rank: 31/87 |
981.51 Rank: 37/87 |
3.182 Rank: 35/87 |
16.45334 Rank: 18/87 |
0.16166 (±0.00000) Rank: 35/87 |
0.29197 (±0.00000) Rank: 35/87 |
ZRH | 1028.5 | 114.71 | 85.53 Rank: 35/87 |
1043.42 Rank: 36/87 |
3.383 Rank: 36/87 |
16.76542 Rank: 16/87 |
0.11302 (±0.00000) Rank: 19/87 |
0.19030 (±0.00000) Rank: 18/87 |
Avg | 1116.1 | 107.58 | 84.97 Rank: 37/87 |
855.57 Rank: 40/87 |
3.490 Rank: 40/87 |
18.40876 Rank: 16/87 |
0.18987 (±0.00000) Rank: 35/87 |
0.28027 (±0.00000) Rank: 35/87 |
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/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/dde8fce910dedce6-degree/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)