Submission ID: e24a676a
MA-BELL-8K-7F71617A
Processed: 21-06-11. Download link: e24a676a3c5790ef-kis_ma_bell_8k.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: Lean (contact)
- Keypoint: kis
- Descriptor: kis (128 float32: 512 bytes)
- Number of features: 8000
- Summary: MA BELL 8K in 7F71617A with outlier filter
- Paper: N/A
- Website: N/A
- Processing date: 21-06-11
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.06993 (±0.00000 over 1 run(s) / ±0.09617 over 9 scenes)
Rank (per category): 44 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 6278.6 | — | 639.6 | 0.682 Rank: 10/51 |
0.006 Rank: 48/51 |
0.00123 (±0.00000) Rank: 48/51 |
0.00284 (±0.00000) Rank: 47/51 |
FCS | 7386.1 | — | 612.3 | 0.556 Rank: 6/51 |
0.232 Rank: 46/51 |
0.11346 (±0.00000) Rank: 44/51 |
0.14303 (±0.00000) Rank: 44/51 |
LMS | 6403.7 | — | 272.7 | 0.533 Rank: 12/51 |
0.016 Rank: 48/51 |
0.00881 (±0.00000) Rank: 45/51 |
0.01115 (±0.00000) Rank: 45/51 |
LB | 5785.4 | — | 425.6 | 0.586 Rank: 16/51 |
0.001 Rank: 48/51 |
0.00000 (±0.00000) Rank: 48/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | — | 880.5 | 0.691 Rank: 7/51 |
0.030 Rank: 46/51 |
0.01171 (±0.00000) Rank: 48/51 |
0.01589 (±0.00000) Rank: 44/51 |
MR | 7403.5 | — | 749.7 | 0.640 Rank: 6/51 |
0.372 Rank: 46/51 |
0.08390 (±0.00000) Rank: 45/51 |
0.12058 (±0.00000) Rank: 45/51 |
PSM | 7260.8 | — | 321.3 | 0.538 Rank: 7/51 |
0.101 Rank: 46/51 |
0.01310 (±0.00000) Rank: 45/51 |
0.02366 (±0.00000) Rank: 46/51 |
SF | 7582.5 | — | 689.4 | 0.559 Rank: 8/51 |
0.499 Rank: 46/51 |
0.23389 (±0.00000) Rank: 43/51 |
0.30199 (±0.00000) Rank: 44/51 |
SPC | 6520.9 | — | 576.0 | 0.600 Rank: 9/51 |
0.023 Rank: 49/51 |
0.00644 (±0.00000) Rank: 46/51 |
0.01021 (±0.00000) Rank: 46/51 |
Avg | 6788.6 | — | 574.1 | 0.598 Rank: 7/51 |
0.142 Rank: 46/51 |
0.05250 (±0.00000) Rank: 44/51 |
0.06993 (±0.00000) Rank: 44/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14336 over 9 scenes)
Rank (per category): 48 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 6278.6 | 646.01 | 24.48 Rank: 49/51 |
423.23 Rank: 48/51 |
1.654 Rank: 48/51 |
1.63859 Rank: 50/51 |
0.00072 (±0.00000) Rank: 47/51 |
0.00154 (±0.00000) Rank: 47/51 |
FCS | 7386.1 | 649.68 | 58.08 Rank: 49/51 |
3108.35 Rank: 47/51 |
3.713 Rank: 43/51 |
0.51523 Rank: 49/51 |
0.15646 (±0.00000) Rank: 48/51 |
0.17880 (±0.00000) Rank: 48/51 |
LMS | 6403.7 | 302.56 | 36.59 Rank: 46/51 |
536.05 Rank: 48/51 |
2.659 Rank: 50/51 |
0.93514 Rank: 49/51 |
0.00658 (±0.00000) Rank: 48/51 |
0.00844 (±0.00000) Rank: 48/51 |
LB | 5785.4 | 531.28 | 0.00 Rank: 46/51 |
0.00 Rank: 46/51 |
0.000 Rank: 46/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 46/51 |
0.00000 (±0.00000) Rank: 46/51 |
MC | 6476.0 | 858.40 | 36.94 Rank: 46/51 |
2538.17 Rank: 46/51 |
2.741 Rank: 48/51 |
1.51095 Rank: 48/51 |
0.01032 (±0.00000) Rank: 46/51 |
0.01379 (±0.00000) Rank: 46/51 |
MR | 7403.5 | 756.78 | 63.09 Rank: 49/51 |
3932.37 Rank: 32/51 |
3.860 Rank: 43/51 |
0.58767 Rank: 47/51 |
0.13921 (±0.00000) Rank: 48/51 |
0.18214 (±0.00000) Rank: 49/51 |
PSM | 7260.8 | 322.47 | 49.05 Rank: 47/51 |
2382.87 Rank: 41/51 |
2.812 Rank: 45/51 |
0.70952 Rank: 43/51 |
0.04300 (±0.00000) Rank: 47/51 |
0.05769 (±0.00000) Rank: 47/51 |
SF | 7582.5 | 674.32 | 76.31 Rank: 47/51 |
5045.14 Rank: 31/51 |
4.547 Rank: 31/51 |
0.35776 Rank: 40/51 |
0.40715 (±0.00000) Rank: 47/51 |
0.45508 (±0.00000) Rank: 47/51 |
SPC | 6520.9 | 609.58 | 36.89 Rank: 50/51 |
1178.96 Rank: 48/51 |
2.544 Rank: 50/51 |
4.00922 Rank: 47/51 |
0.00422 (±0.00000) Rank: 49/51 |
0.00703 (±0.00000) Rank: 49/51 |
Avg | 6788.6 | 594.56 | 42.38 Rank: 49/51 |
2127.24 Rank: 48/51 |
2.726 Rank: 49/51 |
1.28301 Rank: 50/51 |
0.08530 (±0.00000) Rank: 48/51 |
0.10050 (±0.00000) Rank: 48/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.29845 (±0.00000 over 1 run(s) / ±0.07239 over 3 scenes)
Rank (per category): 36 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 380.9 | 0.134 Rank: 6/51 |
0.007 Rank: 36/51 |
0.13786 (±0.00000) Rank: 37/51 |
0.20402 (±0.00000) Rank: 37/51 |
Pond | 8000.0 | — | 369.1 | 0.171 Rank: 5/51 |
0.061 Rank: 1/51 |
0.22485 (±0.00000) Rank: 36/51 |
0.31142 (±0.00000) Rank: 36/51 |
Tree | 8000.0 | — | 204.7 | 0.146 Rank: 1/51 |
0.020 Rank: 23/51 |
0.28477 (±0.00000) Rank: 36/51 |
0.37991 (±0.00000) Rank: 36/51 |
Avg | 8000.0 | — | 318.2 | 0.150 Rank: 1/51 |
0.029 Rank: 2/51 |
0.21583 (±0.00000) Rank: 36/51 |
0.29845 (±0.00000) Rank: 36/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09912 over 3 scenes)
Rank (per category): 36 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 532.78 | 81.83 Rank: 32/51 |
1765.95 Rank: 25/51 |
3.393 Rank: 16/51 |
13.79691 Rank: 11/51 |
0.38793 (±0.00000) Rank: 37/51 |
0.49972 (±0.00000) Rank: 37/51 |
Pond | 8000.0 | 778.18 | 70.30 Rank: 16/51 |
2331.37 Rank: 18/51 |
3.097 Rank: 12/51 |
0.44350 Rank: 36/51 |
0.24036 (±0.00000) Rank: 34/51 |
0.28152 (±0.00000) Rank: 30/51 |
Tree | 8000.0 | 257.36 | 64.31 Rank: 37/51 |
691.87 Rank: 36/51 |
2.942 Rank: 22/51 |
5.63908 Rank: 8/51 |
0.25796 (±0.00000) Rank: 36/51 |
0.29839 (±0.00000) Rank: 36/51 |
Avg | 8000.0 | 522.77 | 72.15 Rank: 37/51 |
1596.40 Rank: 28/51 |
3.144 Rank: 15/51 |
6.62650 Rank: 11/51 |
0.29541 (±0.00000) Rank: 36/51 |
0.35988 (±0.00000) Rank: 36/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.00006 (±0.00000 over 1 run(s) / ±0.00023 over 17 scenes)
Rank (per category): 29 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4334.3 | — | 126.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Bangkok (BGK) | 3599.8 | — | 142.2 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Barcelona (BCN) | 4610.3 | — | 110.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Buenos Aires (BAR) | 4336.3 | — | 107.8 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Cambridge (CAM) | 3294.7 | — | 82.8 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 30/51 |
Cannes (CAN) | 3459.3 | — | 114.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Chicago (CHI) | 4249.8 | — | 40.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00007 (±0.00000) Rank: 30/51 |
Helsinki (HEL) | 3841.1 | — | 172.3 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Madrid (MAD) | 4049.7 | — | 53.5 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Mountain View (MTV) | 4192.5 | — | 63.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
New Orleans (NOR) | 3727.1 | — | 56.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
San Francisco (SF) | 3565.9 | — | 98.9 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Singapore (SG) | 3334.7 | — | 82.1 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Sydney (SYD) | 3714.6 | — | 72.8 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Tokyo (TOK) | 3583.7 | — | 77.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00098 (±0.00000) Rank: 29/51 |
Toronto (TOR) | 3940.2 | — | 38.0 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Zurich (ZRH) | 4461.8 | — | 114.7 | 0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Average (Avg) | 3899.7 | — | 91.4 | 0.00000 (±0.00000) Rank: 29/51 |
0.00006 (±0.00000) Rank: 29/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.00000 over 17 scenes)
Rank (per category): 29 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4334.3 | 72.23 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BGK | 3599.8 | 89.34 | 13.33 Rank: 29/51 |
6.33 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BCN | 4610.3 | 57.40 | 13.33 Rank: 29/51 |
1.67 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
BAR | 4336.3 | 54.63 | 13.33 Rank: 29/51 |
11.62 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAM | 3294.7 | 44.76 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CAN | 3459.3 | 57.27 | 13.33 Rank: 29/51 |
5.00 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
CHI | 4249.8 | 32.50 | 0.00 Rank: 31/51 |
0.00 Rank: 31/51 |
0.000 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
HEL | 3841.1 | 119.15 | 0.00 Rank: 29/51 |
0.00 Rank: 29/51 |
0.000 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MAD | 4049.7 | 30.14 | 13.33 Rank: 29/51 |
12.00 Rank: 30/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
MTV | 4192.5 | 43.73 | 13.33 Rank: 29/51 |
26.00 Rank: 29/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
NOR | 3727.1 | 34.86 | 13.33 Rank: 29/51 |
8.73 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SF | 3565.9 | 53.87 | 13.33 Rank: 29/51 |
6.71 Rank: 32/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SG | 3334.7 | 46.75 | 13.33 Rank: 29/51 |
3.67 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
SYD | 3714.6 | 36.30 | 13.33 Rank: 29/51 |
4.56 Rank: 33/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOK | 3583.7 | 44.26 | 13.33 Rank: 29/51 |
2.67 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
TOR | 3940.2 | 20.14 | 20.00 Rank: 29/51 |
4.22 Rank: 30/51 |
1.333 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
ZRH | 4461.8 | 61.35 | 13.33 Rank: 29/51 |
1.33 Rank: 31/51 |
0.667 Rank: 29/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
Avg | 3899.7 | 52.86 | 10.59 Rank: 31/51 |
5.56 Rank: 30/51 |
0.549 Rank: 31/51 |
nan Rank: 1/51 |
0.00000 (±0.00000) Rank: 29/51 |
0.00000 (±0.00000) Rank: 29/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e24a676a3c5790ef-kis_ma_bell_8k/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)