Submission ID: e380c9a1
RootSIFT8k_s
Processed: 21-06-02. Download link: e380c9a14ac27c07-root8ks.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: Hongkai Chen (contact)
- Keypoint: cv2dog
- Descriptor: rootsift (128 float32: 512 bytes)
- Number of features: 8000
- Summary: RootSIFT8k_s
- Paper: N/A
- Website: N/A
- Processing date: 21-06-02
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.50886 (±0.00000 over 1 run(s) / ±0.14137 over 9 scenes)
Rank (per category): 31 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7934.8 | — | 1022.2 | 0.466 Rank: 48/51 |
0.826 Rank: 45/51 |
0.20159 (±0.00000) Rank: 32/51 |
0.32729 (±0.00000) Rank: 32/51 |
FCS | 7842.9 | — | 1378.5 | 0.425 Rank: 48/51 |
0.802 Rank: 43/51 |
0.62926 (±0.00000) Rank: 25/51 |
0.75346 (±0.00000) Rank: 21/51 |
LMS | 7719.9 | — | 843.0 | 0.412 Rank: 41/51 |
0.582 Rank: 45/51 |
0.48447 (±0.00000) Rank: 31/51 |
0.59061 (±0.00000) Rank: 31/51 |
LB | 7936.3 | — | 866.9 | 0.457 Rank: 41/51 |
0.605 Rank: 45/51 |
0.40214 (±0.00000) Rank: 32/51 |
0.51477 (±0.00000) Rank: 37/51 |
MC | 7799.2 | — | 1481.3 | 0.523 Rank: 46/51 |
0.792 Rank: 45/51 |
0.30529 (±0.00000) Rank: 32/51 |
0.46171 (±0.00000) Rank: 37/51 |
MR | 7777.5 | — | 1236.5 | 0.452 Rank: 46/51 |
0.847 Rank: 45/51 |
0.28420 (±0.00000) Rank: 32/51 |
0.39976 (±0.00000) Rank: 31/51 |
PSM | 7779.5 | — | 1026.8 | 0.381 Rank: 48/51 |
0.606 Rank: 42/51 |
0.16628 (±0.00000) Rank: 27/51 |
0.30680 (±0.00000) Rank: 23/51 |
SF | 7882.8 | — | 1590.9 | 0.477 Rank: 38/51 |
0.727 Rank: 42/51 |
0.52224 (±0.00000) Rank: 22/51 |
0.65655 (±0.00000) Rank: 22/51 |
SPC | 7816.7 | — | 1087.3 | 0.442 Rank: 48/51 |
0.720 Rank: 42/51 |
0.39746 (±0.00000) Rank: 33/51 |
0.56881 (±0.00000) Rank: 32/51 |
Avg | 7832.2 | — | 1170.4 | 0.448 Rank: 48/51 |
0.723 Rank: 44/51 |
0.37699 (±0.00000) Rank: 33/51 |
0.50886 (±0.00000) Rank: 31/51 |
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/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10211 over 9 scenes)
Rank (per category): 11 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7934.8 | 1013.24 | 99.81 Rank: 22/51 |
7772.70 Rank: 5/51 |
4.048 Rank: 40/51 |
0.47240 Rank: 29/51 |
0.43413 (±0.00000) Rank: 35/51 |
0.59275 (±0.00000) Rank: 34/51 |
FCS | 7842.9 | 1427.67 | 99.13 Rank: 4/51 |
9469.21 Rank: 5/51 |
4.399 Rank: 33/51 |
0.20242 Rank: 1/51 |
0.79580 (±0.00000) Rank: 1/51 |
0.85058 (±0.00000) Rank: 1/51 |
LMS | 7719.9 | 905.40 | 99.73 Rank: 1/51 |
8481.34 Rank: 5/51 |
3.834 Rank: 45/51 |
0.32737 Rank: 30/51 |
0.82603 (±0.00000) Rank: 20/51 |
0.88138 (±0.00000) Rank: 20/51 |
LB | 7936.3 | 1051.78 | 98.23 Rank: 11/51 |
7383.23 Rank: 1/51 |
4.232 Rank: 40/51 |
0.50153 Rank: 35/51 |
0.71359 (±0.00000) Rank: 18/51 |
0.80617 (±0.00000) Rank: 15/51 |
MC | 7799.2 | 1460.28 | 100.00 Rank: 1/51 |
8384.81 Rank: 5/51 |
4.760 Rank: 31/51 |
0.35447 Rank: 20/51 |
0.53785 (±0.00000) Rank: 22/51 |
0.69231 (±0.00000) Rank: 19/51 |
MR | 7777.5 | 1229.11 | 97.40 Rank: 2/51 |
8586.08 Rank: 5/51 |
4.365 Rank: 30/51 |
0.45851 Rank: 6/51 |
0.48375 (±0.00000) Rank: 5/51 |
0.61371 (±0.00000) Rank: 4/51 |
PSM | 7779.5 | 1031.23 | 99.40 Rank: 12/51 |
9188.17 Rank: 7/51 |
4.011 Rank: 18/51 |
0.34016 Rank: 10/51 |
0.63752 (±0.00000) Rank: 11/51 |
0.71907 (±0.00000) Rank: 11/51 |
SF | 7882.8 | 1556.17 | 99.88 Rank: 5/51 |
9818.60 Rank: 4/51 |
4.680 Rank: 29/51 |
0.29726 Rank: 18/51 |
0.77344 (±0.00000) Rank: 12/51 |
0.85265 (±0.00000) Rank: 14/51 |
SPC | 7816.7 | 1131.43 | 100.00 Rank: 1/51 |
8215.25 Rank: 6/51 |
4.428 Rank: 33/51 |
0.39615 Rank: 5/51 |
0.72480 (±0.00000) Rank: 15/51 |
0.82753 (±0.00000) Rank: 15/51 |
Avg | 7832.2 | 1200.70 | 99.29 Rank: 1/51 |
8588.82 Rank: 3/51 |
4.306 Rank: 33/51 |
0.37225 Rank: 11/51 |
0.65855 (±0.00000) Rank: 12/51 |
0.75957 (±0.00000) Rank: 11/51 |
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/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.58332 (±0.00000 over 1 run(s) / ±0.05225 over 3 scenes)
Rank (per category): 26 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 837.5 | 0.123 Rank: 16/51 |
0.011 Rank: 14/51 |
0.37809 (±0.00000) Rank: 27/51 |
0.51748 (±0.00000) Rank: 25/51 |
Pond | 8000.0 | — | 883.8 | 0.146 Rank: 20/51 |
0.052 Rank: 24/51 |
0.49459 (±0.00000) Rank: 24/51 |
0.64529 (±0.00000) Rank: 22/51 |
Tree | 8000.0 | — | 588.8 | 0.109 Rank: 23/51 |
0.018 Rank: 34/51 |
0.47506 (±0.00000) Rank: 31/51 |
0.58720 (±0.00000) Rank: 31/51 |
Avg | 8000.0 | — | 770.0 | 0.126 Rank: 20/51 |
0.027 Rank: 26/51 |
0.44924 (±0.00000) Rank: 26/51 |
0.58332 (±0.00000) Rank: 26/51 |
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/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14715 over 3 scenes)
Rank (per category): 7 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 867.17 | 85.10 Rank: 16/51 |
3173.44 Rank: 9/51 |
3.028 Rank: 33/51 |
14.00873 Rank: 17/51 |
0.56598 (±0.00000) Rank: 15/51 |
0.65436 (±0.00000) Rank: 14/51 |
Pond | 8000.0 | 1029.31 | 68.50 Rank: 25/51 |
2691.16 Rank: 16/51 |
2.700 Rank: 32/51 |
0.43006 Rank: 19/51 |
0.26427 (±0.00000) Rank: 22/51 |
0.29689 (±0.00000) Rank: 21/51 |
Tree | 8000.0 | 679.91 | 74.39 Rank: 1/51 |
1953.83 Rank: 10/51 |
2.924 Rank: 25/51 |
5.98129 Rank: 17/51 |
0.48049 (±0.00000) Rank: 3/51 |
0.51571 (±0.00000) Rank: 5/51 |
Avg | 8000.0 | 858.80 | 76.00 Rank: 8/51 |
2606.15 Rank: 12/51 |
2.884 Rank: 31/51 |
6.80669 Rank: 17/51 |
0.43691 (±0.00000) Rank: 8/51 |
0.48899 (±0.00000) Rank: 7/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.21232 (±0.00000 over 1 run(s) / ±0.09928 over 17 scenes)
Rank (per category): 27 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4857.9 | — | 295.0 | 0.11696 (±0.00000) Rank: 27/51 |
0.22366 (±0.00000) Rank: 27/51 |
Bangkok (BGK) | 4856.4 | — | 304.3 | 0.03176 (±0.00000) Rank: 27/51 |
0.11464 (±0.00000) Rank: 26/51 |
Barcelona (BCN) | 4803.5 | — | 190.2 | 0.04982 (±0.00000) Rank: 27/51 |
0.09231 (±0.00000) Rank: 27/51 |
Buenos Aires (BAR) | 5505.6 | — | 271.4 | 0.11781 (±0.00000) Rank: 27/51 |
0.21370 (±0.00000) Rank: 27/51 |
Cambridge (CAM) | 4850.5 | — | 206.5 | 0.14589 (±0.00000) Rank: 27/51 |
0.24178 (±0.00000) Rank: 26/51 |
Cannes (CAN) | 4698.1 | — | 212.4 | 0.20737 (±0.00000) Rank: 27/51 |
0.30599 (±0.00000) Rank: 27/51 |
Chicago (CHI) | 4746.9 | — | 95.0 | 0.03634 (±0.00000) Rank: 28/51 |
0.07609 (±0.00000) Rank: 28/51 |
Helsinki (HEL) | 4729.9 | — | 340.6 | 0.20876 (±0.00000) Rank: 27/51 |
0.40361 (±0.00000) Rank: 27/51 |
Madrid (MAD) | 5910.3 | — | 240.2 | 0.02736 (±0.00000) Rank: 28/51 |
0.08267 (±0.00000) Rank: 27/51 |
Mountain View (MTV) | 5137.2 | — | 165.5 | 0.08906 (±0.00000) Rank: 27/51 |
0.16406 (±0.00000) Rank: 27/51 |
New Orleans (NOR) | 5116.9 | — | 178.5 | 0.12249 (±0.00000) Rank: 27/51 |
0.17574 (±0.00000) Rank: 27/51 |
San Francisco (SF) | 5070.3 | — | 243.5 | 0.06614 (±0.00000) Rank: 28/51 |
0.15407 (±0.00000) Rank: 27/51 |
Singapore (SG) | 5735.7 | — | 238.5 | 0.15127 (±0.00000) Rank: 27/51 |
0.23418 (±0.00000) Rank: 27/51 |
Sydney (SYD) | 5122.8 | — | 247.0 | 0.17205 (±0.00000) Rank: 27/51 |
0.27336 (±0.00000) Rank: 27/51 |
Tokyo (TOK) | 4677.4 | — | 290.1 | 0.29902 (±0.00000) Rank: 27/51 |
0.43382 (±0.00000) Rank: 27/51 |
Toronto (TOR) | 5693.8 | — | 155.9 | 0.10000 (±0.00000) Rank: 25/51 |
0.18200 (±0.00000) Rank: 25/51 |
Zurich (ZRH) | 4879.4 | — | 297.2 | 0.15808 (±0.00000) Rank: 27/51 |
0.23780 (±0.00000) Rank: 27/51 |
Average (Avg) | 5081.9 | — | 233.6 | 0.12354 (±0.00000) Rank: 27/51 |
0.21232 (±0.00000) Rank: 27/51 |
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/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12911 over 17 scenes)
Rank (per category): 22 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4857.9 | 176.97 | 84.97 Rank: 14/51 |
1808.11 Rank: 17/51 |
3.252 Rank: 22/51 |
23.53603 Rank: 15/51 |
0.22376 (±0.00000) Rank: 23/51 |
0.31379 (±0.00000) Rank: 21/51 |
BGK | 4856.4 | 199.71 | 93.60 Rank: 16/51 |
2534.44 Rank: 16/51 |
3.079 Rank: 27/51 |
13.61743 Rank: 17/51 |
0.02451 (±0.00000) Rank: 12/51 |
0.08444 (±0.00000) Rank: 10/51 |
BCN | 4803.5 | 110.67 | 76.09 Rank: 22/51 |
936.67 Rank: 21/51 |
3.146 Rank: 24/51 |
27.80176 Rank: 22/51 |
0.07133 (±0.00000) Rank: 24/51 |
0.11699 (±0.00000) Rank: 24/51 |
BAR | 5505.6 | 139.14 | 67.09 Rank: 20/51 |
961.16 Rank: 17/51 |
2.865 Rank: 23/51 |
11.34826 Rank: 9/51 |
0.05319 (±0.00000) Rank: 20/51 |
0.09992 (±0.00000) Rank: 20/51 |
CAM | 4850.5 | 119.43 | 73.00 Rank: 20/51 |
1059.33 Rank: 18/51 |
2.925 Rank: 22/51 |
20.12929 Rank: 10/51 |
0.08870 (±0.00000) Rank: 23/51 |
0.13876 (±0.00000) Rank: 24/51 |
CAN | 4698.1 | 113.57 | 59.70 Rank: 21/51 |
507.67 Rank: 20/51 |
2.767 Rank: 26/51 |
11.99298 Rank: 10/51 |
0.02059 (±0.00000) Rank: 20/51 |
0.05449 (±0.00000) Rank: 19/51 |
CHI | 4746.9 | 83.55 | 82.52 Rank: 16/51 |
634.94 Rank: 13/51 |
3.304 Rank: 21/51 |
40.47115 Rank: 9/51 |
0.01053 (±0.00000) Rank: 24/51 |
0.03736 (±0.00000) Rank: 23/51 |
HEL | 4729.9 | 238.31 | 90.63 Rank: 19/51 |
2514.56 Rank: 19/51 |
3.242 Rank: 22/51 |
12.79512 Rank: 17/51 |
0.25621 (±0.00000) Rank: 19/51 |
0.38444 (±0.00000) Rank: 19/51 |
MAD | 5910.3 | 148.85 | 82.18 Rank: 14/51 |
1975.75 Rank: 11/51 |
2.972 Rank: 25/51 |
4.27721 Rank: 9/51 |
0.04299 (±0.00000) Rank: 16/51 |
0.10019 (±0.00000) Rank: 14/51 |
MTV | 5137.2 | 113.69 | 83.54 Rank: 17/51 |
1414.29 Rank: 15/51 |
3.109 Rank: 23/51 |
14.10387 Rank: 13/51 |
0.10868 (±0.00000) Rank: 23/51 |
0.18796 (±0.00000) Rank: 22/51 |
NOR | 5116.9 | 117.38 | 61.28 Rank: 20/51 |
686.70 Rank: 18/51 |
2.660 Rank: 22/51 |
7.08633 Rank: 9/51 |
0.04460 (±0.00000) Rank: 25/51 |
0.07741 (±0.00000) Rank: 24/51 |
SF | 5070.3 | 140.94 | 76.59 Rank: 21/51 |
1234.16 Rank: 18/51 |
2.924 Rank: 22/51 |
12.43514 Rank: 8/51 |
0.10364 (±0.00000) Rank: 22/51 |
0.18303 (±0.00000) Rank: 20/51 |
SG | 5735.7 | 143.49 | 65.80 Rank: 16/51 |
958.55 Rank: 16/51 |
2.804 Rank: 25/51 |
17.03219 Rank: 21/51 |
0.06753 (±0.00000) Rank: 21/51 |
0.11240 (±0.00000) Rank: 19/51 |
SYD | 5122.8 | 141.43 | 69.49 Rank: 21/51 |
917.09 Rank: 14/51 |
2.913 Rank: 22/51 |
13.04581 Rank: 13/51 |
0.09521 (±0.00000) Rank: 22/51 |
0.15240 (±0.00000) Rank: 23/51 |
TOK | 4677.4 | 171.86 | 84.32 Rank: 17/51 |
2428.09 Rank: 13/51 |
3.007 Rank: 24/51 |
11.81969 Rank: 13/51 |
0.46479 (±0.00000) Rank: 13/51 |
0.54346 (±0.00000) Rank: 12/51 |
TOR | 5693.8 | 88.83 | 71.81 Rank: 21/51 |
918.67 Rank: 15/51 |
2.755 Rank: 26/51 |
10.46036 Rank: 5/51 |
0.04664 (±0.00000) Rank: 23/51 |
0.09463 (±0.00000) Rank: 22/51 |
ZRH | 4879.4 | 171.31 | 78.95 Rank: 16/51 |
1691.43 Rank: 16/51 |
3.007 Rank: 17/51 |
17.53240 Rank: 15/51 |
0.03345 (±0.00000) Rank: 22/51 |
0.08058 (±0.00000) Rank: 21/51 |
Avg | 5081.9 | 142.30 | 76.56 Rank: 19/51 |
1363.62 Rank: 16/51 |
2.984 Rank: 23/51 |
15.85206 Rank: 12/51 |
0.10332 (±0.00000) Rank: 22/51 |
0.16249 (±0.00000) Rank: 22/51 |
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/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e380c9a14ac27c07-root8ks/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)