Submission ID: e0aad3f0
mssretrain
Processed: 21-06-02. Download link: e0aad3f000f36576-530jsonretrain.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: Megvii 3D (contact)
- Keypoint: mss
- Descriptor: mss (256 float32: 1024 bytes)
- Number of features: 2048
- Summary: mssretrain
- Paper: N/A
- Website: N/A
- Processing date: 21-06-02
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.57911 (±0.00000 over 1 run(s) / ±0.13515 over 9 scenes)
Rank (per category): 26 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2046.0 | — | 415.4 | 0.470 Rank: 35/87 |
0.890 Rank: 52/87 |
0.34833 (±0.00000) Rank: 17/87 |
0.50069 (±0.00000) Rank: 18/87 |
FCS | 2046.8 | — | 540.6 | 0.418 Rank: 10/87 |
0.866 Rank: 41/87 |
0.65207 (±0.00000) Rank: 28/87 |
0.77050 (±0.00000) Rank: 27/87 |
LMS | 2048.0 | — | 551.5 | 0.449 Rank: 20/87 |
0.690 Rank: 32/87 |
0.63040 (±0.00000) Rank: 8/87 |
0.74937 (±0.00000) Rank: 10/87 |
LB | 2048.0 | — | 394.9 | 0.406 Rank: 20/87 |
0.699 Rank: 47/87 |
0.47366 (±0.00000) Rank: 17/87 |
0.58786 (±0.00000) Rank: 34/87 |
MC | 2048.0 | — | 429.2 | 0.429 Rank: 28/87 |
0.847 Rank: 60/87 |
0.34009 (±0.00000) Rank: 17/87 |
0.49700 (±0.00000) Rank: 35/87 |
MR | 2045.2 | — | 444.0 | 0.427 Rank: 33/87 |
0.894 Rank: 41/87 |
0.28050 (±0.00000) Rank: 24/87 |
0.39419 (±0.00000) Rank: 24/87 |
PSM | 2048.0 | — | 381.7 | 0.339 Rank: 38/87 |
0.612 Rank: 29/87 |
0.23176 (±0.00000) Rank: 31/87 |
0.38575 (±0.00000) Rank: 32/87 |
SF | 2048.0 | — | 496.6 | 0.377 Rank: 25/87 |
0.788 Rank: 40/87 |
0.51697 (±0.00000) Rank: 18/87 |
0.65840 (±0.00000) Rank: 23/87 |
SPC | 2048.0 | — | 415.6 | 0.386 Rank: 37/87 |
0.794 Rank: 49/87 |
0.50076 (±0.00000) Rank: 34/87 |
0.66823 (±0.00000) Rank: 27/87 |
Avg | 2047.3 | — | 452.2 | 0.411 Rank: 33/87 |
0.787 Rank: 38/87 |
0.44162 (±0.00000) Rank: 26/87 |
0.57911 (±0.00000) Rank: 26/87 |
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/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08996 over 9 scenes)
Rank (per category): 6 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2046.0 | 415.79 | 99.87 Rank: 32/87 |
2078.58 Rank: 32/87 |
4.991 Rank: 31/87 |
0.34192 Rank: 11/87 |
0.59935 (±0.00000) Rank: 8/87 |
0.73715 (±0.00000) Rank: 3/87 |
FCS | 2046.8 | 547.84 | 98.53 Rank: 10/87 |
2714.18 Rank: 19/87 |
5.119 Rank: 20/87 |
0.22583 Rank: 7/87 |
0.75527 (±0.00000) Rank: 14/87 |
0.81310 (±0.00000) Rank: 13/87 |
LMS | 2048.0 | 577.86 | 99.33 Rank: 30/87 |
1997.84 Rank: 31/87 |
5.873 Rank: 15/87 |
0.28271 Rank: 26/87 |
0.86078 (±0.00000) Rank: 17/87 |
0.90411 (±0.00000) Rank: 22/87 |
LB | 2048.0 | 472.28 | 98.16 Rank: 42/87 |
2100.91 Rank: 32/87 |
5.331 Rank: 29/87 |
0.47654 Rank: 20/87 |
0.71545 (±0.00000) Rank: 30/87 |
0.80804 (±0.00000) Rank: 30/87 |
MC | 2048.0 | 423.33 | 100.00 Rank: 1/87 |
2186.48 Rank: 38/87 |
5.158 Rank: 28/87 |
0.37052 Rank: 47/87 |
0.55801 (±0.00000) Rank: 21/87 |
0.70599 (±0.00000) Rank: 20/87 |
MR | 2045.2 | 437.67 | 95.47 Rank: 11/87 |
2270.21 Rank: 32/87 |
4.900 Rank: 25/87 |
0.45754 Rank: 2/87 |
0.46665 (±0.00000) Rank: 1/87 |
0.59093 (±0.00000) Rank: 1/87 |
PSM | 2048.0 | 379.34 | 99.08 Rank: 34/87 |
2541.75 Rank: 26/87 |
4.514 Rank: 34/87 |
0.35226 Rank: 30/87 |
0.65796 (±0.00000) Rank: 10/87 |
0.74655 (±0.00000) Rank: 8/87 |
SF | 2048.0 | 489.17 | 99.80 Rank: 26/87 |
2731.55 Rank: 33/87 |
5.037 Rank: 25/87 |
0.28106 Rank: 26/87 |
0.77920 (±0.00000) Rank: 23/87 |
0.86126 (±0.00000) Rank: 23/87 |
SPC | 2048.0 | 426.07 | 100.00 Rank: 1/87 |
2303.38 Rank: 34/87 |
5.110 Rank: 43/87 |
0.44402 Rank: 37/87 |
0.75458 (±0.00000) Rank: 23/87 |
0.84905 (±0.00000) Rank: 22/87 |
Avg | 2047.3 | 463.26 | 98.92 Rank: 11/87 |
2324.99 Rank: 31/87 |
5.115 Rank: 28/87 |
0.35916 Rank: 11/87 |
0.68303 (±0.00000) Rank: 8/87 |
0.77958 (±0.00000) Rank: 6/87 |
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/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.77011 (±0.00000 over 1 run(s) / ±0.05160 over 3 scenes)
Rank (per category): 11 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 372.1 | 0.035 Rank: 32/87 |
0.012 Rank: 17/87 |
0.61553 (±0.00000) Rank: 11/87 |
0.74535 (±0.00000) Rank: 12/87 |
Pond | 2048.0 | — | 386.2 | 0.048 Rank: 41/87 |
0.047 Rank: 40/87 |
0.59559 (±0.00000) Rank: 9/87 |
0.72305 (±0.00000) Rank: 17/87 |
Tree | 2048.0 | — | 243.2 | 0.029 Rank: 39/87 |
0.026 Rank: 4/87 |
0.73996 (±0.00000) Rank: 7/87 |
0.84194 (±0.00000) Rank: 4/87 |
Avg | 2048.0 | — | 333.8 | 0.038 Rank: 36/87 |
0.028 Rank: 11/87 |
0.65036 (±0.00000) Rank: 10/87 |
0.77011 (±0.00000) Rank: 11/87 |
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/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14803 over 3 scenes)
Rank (per category): 39 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 388.92 | 85.70 Rank: 2/87 |
1200.23 Rank: 23/87 |
3.416 Rank: 19/87 |
14.57073 Rank: 66/87 |
0.59813 (±0.00000) Rank: 5/87 |
0.67844 (±0.00000) Rank: 4/87 |
Pond | 2048.0 | 420.23 | 67.57 Rank: 44/87 |
968.62 Rank: 26/87 |
2.722 Rank: 65/87 |
0.41481 Rank: 12/87 |
0.28911 (±0.00000) Rank: 24/87 |
0.32371 (±0.00000) Rank: 16/87 |
Tree | 2048.0 | 236.15 | 69.69 Rank: 56/87 |
531.70 Rank: 29/87 |
3.009 Rank: 26/87 |
6.10379 Rank: 48/87 |
0.39924 (±0.00000) Rank: 51/87 |
0.43602 (±0.00000) Rank: 52/87 |
Avg | 2048.0 | 348.43 | 74.32 Rank: 51/87 |
900.18 Rank: 23/87 |
3.049 Rank: 51/87 |
7.02978 Rank: 65/87 |
0.42883 (±0.00000) Rank: 39/87 |
0.47939 (±0.00000) Rank: 39/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40589 (±0.00000 over 1 run(s) / ±0.13608 over 17 scenes)
Rank (per category): 12 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 280.6 | 0.25625 (±0.00000) Rank: 17/87 |
0.42500 (±0.00000) Rank: 9/87 |
Bangkok (BGK) | 2048.0 | — | 405.2 | 0.06402 (±0.00000) Rank: 19/87 |
0.18114 (±0.00000) Rank: 17/87 |
Barcelona (BCN) | 2046.3 | — | 287.4 | 0.15604 (±0.00000) Rank: 1/87 |
0.25092 (±0.00000) Rank: 1/87 |
Buenos Aires (BAR) | 2048.0 | — | 273.8 | 0.22466 (±0.00000) Rank: 17/87 |
0.37808 (±0.00000) Rank: 18/87 |
Cambridge (CAM) | 2047.6 | — | 284.4 | 0.32192 (±0.00000) Rank: 17/87 |
0.47226 (±0.00000) Rank: 12/87 |
Cannes (CAN) | 2048.0 | — | 340.7 | 0.41751 (±0.00000) Rank: 5/87 |
0.53963 (±0.00000) Rank: 4/87 |
Chicago (CHI) | 2048.0 | — | 202.5 | 0.16749 (±0.00000) Rank: 34/87 |
0.29119 (±0.00000) Rank: 32/87 |
Helsinki (HEL) | 2048.0 | — | 527.7 | 0.39021 (±0.00000) Rank: 12/87 |
0.59124 (±0.00000) Rank: 6/87 |
Madrid (MAD) | 2048.0 | — | 203.5 | 0.09240 (±0.00000) Rank: 12/87 |
0.20365 (±0.00000) Rank: 14/87 |
Mountain View (MTV) | 2048.0 | — | 254.0 | 0.25430 (±0.00000) Rank: 11/87 |
0.41016 (±0.00000) Rank: 6/87 |
New Orleans (NOR) | 2039.2 | — | 220.5 | 0.26746 (±0.00000) Rank: 31/87 |
0.35414 (±0.00000) Rank: 33/87 |
San Francisco (SF) | 2048.0 | — | 321.5 | 0.18583 (±0.00000) Rank: 31/87 |
0.34147 (±0.00000) Rank: 27/87 |
Singapore (SG) | 2048.0 | — | 261.0 | 0.35443 (±0.00000) Rank: 3/87 |
0.47057 (±0.00000) Rank: 8/87 |
Sydney (SYD) | 2048.0 | — | 301.6 | 0.32489 (±0.00000) Rank: 28/87 |
0.47904 (±0.00000) Rank: 30/87 |
Tokyo (TOK) | 2048.0 | — | 359.5 | 0.60245 (±0.00000) Rank: 18/87 |
0.73897 (±0.00000) Rank: 24/87 |
Toronto (TOR) | 2048.0 | — | 216.7 | 0.23440 (±0.00000) Rank: 10/87 |
0.39920 (±0.00000) Rank: 5/87 |
Zurich (ZRH) | 2048.0 | — | 333.5 | 0.26598 (±0.00000) Rank: 22/87 |
0.37354 (±0.00000) Rank: 14/87 |
Average (Avg) | 2047.4 | — | 298.5 | 0.26943 (±0.00000) Rank: 13/87 |
0.40589 (±0.00000) Rank: 12/87 |
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/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15312 over 17 scenes)
Rank (per category): 13 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 183.63 | 92.67 Rank: 14/87 |
1324.65 Rank: 28/87 |
3.882 Rank: 5/87 |
24.06381 Rank: 16/87 |
0.33843 (±0.00000) Rank: 32/87 |
0.46377 (±0.00000) Rank: 25/87 |
BGK | 2048.0 | 278.98 | 96.80 Rank: 22/87 |
2439.74 Rank: 22/87 |
3.654 Rank: 26/87 |
14.10189 Rank: 38/87 |
0.02929 (±0.00000) Rank: 22/87 |
0.09178 (±0.00000) Rank: 19/87 |
BCN | 2046.3 | 170.93 | 84.84 Rank: 26/87 |
1296.95 Rank: 18/87 |
3.732 Rank: 27/87 |
29.83486 Rank: 47/87 |
0.15856 (±0.00000) Rank: 4/87 |
0.24601 (±0.00000) Rank: 6/87 |
BAR | 2048.0 | 158.05 | 85.04 Rank: 29/87 |
1212.15 Rank: 22/87 |
3.417 Rank: 19/87 |
16.64527 Rank: 36/87 |
0.18114 (±0.00000) Rank: 2/87 |
0.29001 (±0.00000) Rank: 7/87 |
CAM | 2047.6 | 174.98 | 86.31 Rank: 28/87 |
1262.83 Rank: 23/87 |
3.498 Rank: 30/87 |
27.38562 Rank: 34/87 |
0.19163 (±0.00000) Rank: 14/87 |
0.28449 (±0.00000) Rank: 14/87 |
CAN | 2048.0 | 186.76 | 81.46 Rank: 8/87 |
900.02 Rank: 20/87 |
3.613 Rank: 5/87 |
22.63100 Rank: 44/87 |
0.07941 (±0.00000) Rank: 16/87 |
0.14731 (±0.00000) Rank: 14/87 |
CHI | 2048.0 | 179.04 | 89.63 Rank: 19/87 |
538.12 Rank: 27/87 |
5.341 Rank: 1/87 |
48.63138 Rank: 46/87 |
0.15441 (±0.00000) Rank: 16/87 |
0.24655 (±0.00000) Rank: 17/87 |
HEL | 2048.0 | 373.71 | 95.47 Rank: 6/87 |
2314.55 Rank: 19/87 |
4.128 Rank: 3/87 |
15.70010 Rank: 45/87 |
0.38161 (±0.00000) Rank: 3/87 |
0.52856 (±0.00000) Rank: 2/87 |
MAD | 2048.0 | 128.88 | 89.06 Rank: 33/87 |
1338.55 Rank: 25/87 |
3.349 Rank: 9/87 |
7.53319 Rank: 47/87 |
0.09447 (±0.00000) Rank: 24/87 |
0.19515 (±0.00000) Rank: 30/87 |
MTV | 2048.0 | 184.56 | 92.83 Rank: 9/87 |
1394.44 Rank: 28/87 |
3.937 Rank: 7/87 |
16.99985 Rank: 34/87 |
0.29529 (±0.00000) Rank: 13/87 |
0.43748 (±0.00000) Rank: 8/87 |
NOR | 2039.2 | 140.17 | 83.76 Rank: 30/87 |
1098.74 Rank: 28/87 |
3.291 Rank: 34/87 |
11.02481 Rank: 18/87 |
0.24524 (±0.00000) Rank: 29/87 |
0.33360 (±0.00000) Rank: 29/87 |
SF | 2048.0 | 207.95 | 95.87 Rank: 19/87 |
1658.78 Rank: 26/87 |
3.782 Rank: 10/87 |
21.09266 Rank: 40/87 |
0.29010 (±0.00000) Rank: 18/87 |
0.43427 (±0.00000) Rank: 19/87 |
SG | 2048.0 | 161.28 | 76.45 Rank: 26/87 |
1067.83 Rank: 26/87 |
3.462 Rank: 9/87 |
16.11023 Rank: 16/87 |
0.21360 (±0.00000) Rank: 28/87 |
0.28534 (±0.00000) Rank: 27/87 |
SYD | 2048.0 | 182.48 | 86.44 Rank: 32/87 |
1442.73 Rank: 25/87 |
3.499 Rank: 29/87 |
19.76236 Rank: 22/87 |
0.30155 (±0.00000) Rank: 17/87 |
0.38979 (±0.00000) Rank: 16/87 |
TOK | 2048.0 | 222.41 | 92.93 Rank: 22/87 |
1987.65 Rank: 29/87 |
3.816 Rank: 7/87 |
14.38867 Rank: 27/87 |
0.65200 (±0.00000) Rank: 32/87 |
0.73415 (±0.00000) Rank: 26/87 |
TOR | 2048.0 | 133.99 | 87.87 Rank: 30/87 |
1322.85 Rank: 29/87 |
3.289 Rank: 4/87 |
18.26442 Rank: 40/87 |
0.21644 (±0.00000) Rank: 2/87 |
0.34970 (±0.00000) Rank: 3/87 |
ZRH | 2048.0 | 203.39 | 89.51 Rank: 26/87 |
1741.08 Rank: 24/87 |
3.447 Rank: 26/87 |
23.15775 Rank: 50/87 |
0.10564 (±0.00000) Rank: 26/87 |
0.17653 (±0.00000) Rank: 27/87 |
Avg | 2047.4 | 192.42 | 88.64 Rank: 29/87 |
1431.86 Rank: 24/87 |
3.714 Rank: 2/87 |
20.43105 Rank: 38/87 |
0.23111 (±0.00000) Rank: 14/87 |
0.33144 (±0.00000) Rank: 13/87 |
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/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e0aad3f000f36576-530jsonretrain/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)