Submission ID: e3ba5f62
mss2epoch
Processed: 21-05-24. Download link: e3ba5f6288961eb8-522json.json
This page ranks the submission against all others using the same number of keypoints, regardless of descriptor size. Please hover over table headers for descriptions on metrics and full scene names.
- Phototourism dataset: Stereo track / Multiview track
- Prague Parks dataset: Stereo track / Multiview track
- Google Urban dataset: Stereo track / Multiview track
Metadata
- Authors: Megvii 3D (contact)
- Keypoint: pt
- Descriptor: pt (128 float32: 512 bytes)
- Number of features: 2048
- Summary: pt
- Paper: N/A
- Website: N/A
- Processing date: 21-05-24
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.58723 (±0.00000 over 1 run(s) / ±0.13261 over 9 scenes)
Rank (per category): 15 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 374.9 | 0.460 Rank: 46/87 |
0.897 Rank: 33/87 |
0.34739 (±0.00000) Rank: 18/87 |
0.50543 (±0.00000) Rank: 11/87 |
FCS | 2048.0 | — | 530.6 | 0.417 Rank: 18/87 |
0.872 Rank: 29/87 |
0.65441 (±0.00000) Rank: 23/87 |
0.77056 (±0.00000) Rank: 26/87 |
LMS | 2048.0 | — | 547.6 | 0.448 Rank: 27/87 |
0.690 Rank: 30/87 |
0.62585 (±0.00000) Rank: 11/87 |
0.74503 (±0.00000) Rank: 15/87 |
LB | 2047.7 | — | 397.9 | 0.402 Rank: 30/87 |
0.702 Rank: 45/87 |
0.49126 (±0.00000) Rank: 18/87 |
0.60406 (±0.00000) Rank: 27/87 |
MC | 2048.0 | — | 416.2 | 0.419 Rank: 37/87 |
0.857 Rank: 50/87 |
0.35353 (±0.00000) Rank: 18/87 |
0.50903 (±0.00000) Rank: 24/87 |
MR | 2048.0 | — | 446.7 | 0.425 Rank: 41/87 |
0.901 Rank: 28/87 |
0.28316 (±0.00000) Rank: 16/87 |
0.39926 (±0.00000) Rank: 17/87 |
PSM | 2048.0 | — | 362.4 | 0.329 Rank: 55/87 |
0.611 Rank: 31/87 |
0.24285 (±0.00000) Rank: 19/87 |
0.39962 (±0.00000) Rank: 24/87 |
SF | 2048.0 | — | 517.0 | 0.376 Rank: 33/87 |
0.789 Rank: 38/87 |
0.51958 (±0.00000) Rank: 7/87 |
0.66241 (±0.00000) Rank: 13/87 |
SPC | 2048.0 | — | 418.3 | 0.383 Rank: 46/87 |
0.800 Rank: 36/87 |
0.52728 (±0.00000) Rank: 9/87 |
0.68967 (±0.00000) Rank: 8/87 |
Avg | 2048.0 | — | 445.7 | 0.407 Rank: 43/87 |
0.791 Rank: 33/87 |
0.44948 (±0.00000) Rank: 15/87 |
0.58723 (±0.00000) Rank: 15/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.10205 over 9 scenes)
Rank (per category): 26 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 373.88 | 99.76 Rank: 54/87 |
1978.50 Rank: 37/87 |
4.899 Rank: 46/87 |
0.36611 Rank: 30/87 |
0.58491 (±0.00000) Rank: 25/87 |
0.72334 (±0.00000) Rank: 25/87 |
FCS | 2048.0 | 538.43 | 98.15 Rank: 28/87 |
2629.89 Rank: 32/87 |
5.074 Rank: 33/87 |
0.25421 Rank: 42/87 |
0.72210 (±0.00000) Rank: 45/87 |
0.77835 (±0.00000) Rank: 52/87 |
LMS | 2048.0 | 574.34 | 99.76 Rank: 4/87 |
2003.94 Rank: 29/87 |
5.845 Rank: 21/87 |
0.27713 Rank: 19/87 |
0.86833 (±0.00000) Rank: 8/87 |
0.91381 (±0.00000) Rank: 12/87 |
LB | 2047.7 | 475.34 | 98.29 Rank: 29/87 |
2100.85 Rank: 33/87 |
5.350 Rank: 28/87 |
0.49260 Rank: 48/87 |
0.71923 (±0.00000) Rank: 28/87 |
0.81131 (±0.00000) Rank: 27/87 |
MC | 2048.0 | 409.66 | 100.00 Rank: 1/87 |
2108.83 Rank: 40/87 |
5.144 Rank: 30/87 |
0.36697 Rank: 42/87 |
0.54285 (±0.00000) Rank: 39/87 |
0.68888 (±0.00000) Rank: 39/87 |
MR | 2048.0 | 440.32 | 94.40 Rank: 39/87 |
2211.15 Rank: 37/87 |
4.890 Rank: 26/87 |
0.49824 Rank: 19/87 |
0.43372 (±0.00000) Rank: 28/87 |
0.55406 (±0.00000) Rank: 29/87 |
PSM | 2048.0 | 360.48 | 99.17 Rank: 31/87 |
2430.07 Rank: 33/87 |
4.587 Rank: 18/87 |
0.32258 Rank: 11/87 |
0.66236 (±0.00000) Rank: 6/87 |
0.74992 (±0.00000) Rank: 7/87 |
SF | 2048.0 | 509.63 | 99.93 Rank: 13/87 |
2817.11 Rank: 26/87 |
5.098 Rank: 11/87 |
0.27881 Rank: 18/87 |
0.78466 (±0.00000) Rank: 7/87 |
0.86571 (±0.00000) Rank: 13/87 |
SPC | 2048.0 | 428.69 | 100.00 Rank: 1/87 |
2279.80 Rank: 37/87 |
5.178 Rank: 27/87 |
0.47177 Rank: 48/87 |
0.75680 (±0.00000) Rank: 20/87 |
0.84949 (±0.00000) Rank: 20/87 |
Avg | 2048.0 | 456.75 | 98.83 Rank: 24/87 |
2284.46 Rank: 36/87 |
5.118 Rank: 26/87 |
0.36982 Rank: 30/87 |
0.67500 (±0.00000) Rank: 24/87 |
0.77054 (±0.00000) Rank: 26/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.77200 (±0.00000 over 1 run(s) / ±0.04968 over 3 scenes)
Rank (per category): 9 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 377.5 | 0.035 Rank: 32/87 |
0.013 Rank: 11/87 |
0.61942 (±0.00000) Rank: 9/87 |
0.74868 (±0.00000) Rank: 9/87 |
Pond | 2048.0 | — | 389.7 | 0.048 Rank: 41/87 |
0.047 Rank: 43/87 |
0.59238 (±0.00000) Rank: 16/87 |
0.72625 (±0.00000) Rank: 13/87 |
Tree | 2048.0 | — | 253.9 | 0.029 Rank: 39/87 |
0.024 Rank: 26/87 |
0.73863 (±0.00000) Rank: 9/87 |
0.84106 (±0.00000) Rank: 7/87 |
Avg | 2048.0 | — | 340.4 | 0.038 Rank: 36/87 |
0.028 Rank: 21/87 |
0.65014 (±0.00000) Rank: 11/87 |
0.77200 (±0.00000) Rank: 9/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15134 over 3 scenes)
Rank (per category): 15 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 320.00 | 85.60 Rank: 17/87 |
1028.07 Rank: 33/87 |
3.473 Rank: 6/87 |
14.44412 Rank: 55/87 |
0.59749 (±0.00000) Rank: 6/87 |
0.67806 (±0.00000) Rank: 5/87 |
Pond | 2048.0 | 337.97 | 70.27 Rank: 10/87 |
881.24 Rank: 38/87 |
2.973 Rank: 23/87 |
0.44028 Rank: 59/87 |
0.27902 (±0.00000) Rank: 37/87 |
0.30736 (±0.00000) Rank: 41/87 |
Tree | 2048.0 | 185.85 | 72.01 Rank: 17/87 |
476.61 Rank: 45/87 |
3.010 Rank: 25/87 |
5.94118 Rank: 26/87 |
0.45707 (±0.00000) Rank: 16/87 |
0.49012 (±0.00000) Rank: 17/87 |
Avg | 2048.0 | 281.28 | 75.96 Rank: 4/87 |
795.31 Rank: 36/87 |
3.152 Rank: 16/87 |
6.94186 Rank: 50/87 |
0.44453 (±0.00000) Rank: 12/87 |
0.49184 (±0.00000) Rank: 15/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40076 (±0.00000 over 1 run(s) / ±0.13660 over 17 scenes)
Rank (per category): 22 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 286.2 | 0.26518 (±0.00000) Rank: 10/87 |
0.40982 (±0.00000) Rank: 16/87 |
Bangkok (BGK) | 2048.0 | — | 411.3 | 0.06551 (±0.00000) Rank: 14/87 |
0.17891 (±0.00000) Rank: 19/87 |
Barcelona (BCN) | 2046.3 | — | 291.8 | 0.11062 (±0.00000) Rank: 31/87 |
0.20293 (±0.00000) Rank: 28/87 |
Buenos Aires (BAR) | 2048.0 | — | 281.8 | 0.22648 (±0.00000) Rank: 10/87 |
0.38311 (±0.00000) Rank: 12/87 |
Cambridge (CAM) | 2047.6 | — | 291.1 | 0.30616 (±0.00000) Rank: 10/87 |
0.45377 (±0.00000) Rank: 25/87 |
Cannes (CAN) | 2048.0 | — | 350.7 | 0.39816 (±0.00000) Rank: 23/87 |
0.51797 (±0.00000) Rank: 22/87 |
Chicago (CHI) | 2048.0 | — | 239.3 | 0.21093 (±0.00000) Rank: 12/87 |
0.34419 (±0.00000) Rank: 13/87 |
Helsinki (HEL) | 2048.0 | — | 526.2 | 0.38454 (±0.00000) Rank: 16/87 |
0.58376 (±0.00000) Rank: 13/87 |
Madrid (MAD) | 2048.0 | — | 209.5 | 0.07234 (±0.00000) Rank: 34/87 |
0.17599 (±0.00000) Rank: 37/87 |
Mountain View (MTV) | 2048.0 | — | 259.6 | 0.22617 (±0.00000) Rank: 24/87 |
0.37734 (±0.00000) Rank: 25/87 |
New Orleans (NOR) | 2039.2 | — | 232.6 | 0.27929 (±0.00000) Rank: 25/87 |
0.38994 (±0.00000) Rank: 19/87 |
San Francisco (SF) | 2048.0 | — | 331.2 | 0.19265 (±0.00000) Rank: 27/87 |
0.35223 (±0.00000) Rank: 21/87 |
Singapore (SG) | 2048.0 | — | 270.0 | 0.32848 (±0.00000) Rank: 22/87 |
0.45190 (±0.00000) Rank: 25/87 |
Sydney (SYD) | 2048.0 | — | 311.3 | 0.33624 (±0.00000) Rank: 22/87 |
0.49345 (±0.00000) Rank: 20/87 |
Tokyo (TOK) | 2048.0 | — | 365.5 | 0.59118 (±0.00000) Rank: 28/87 |
0.73186 (±0.00000) Rank: 33/87 |
Toronto (TOR) | 2048.0 | — | 230.7 | 0.23840 (±0.00000) Rank: 7/87 |
0.39320 (±0.00000) Rank: 9/87 |
Zurich (ZRH) | 2048.0 | — | 340.3 | 0.27285 (±0.00000) Rank: 14/87 |
0.37251 (±0.00000) Rank: 18/87 |
Average (Avg) | 2047.4 | — | 307.6 | 0.26501 (±0.00000) Rank: 20/87 |
0.40076 (±0.00000) Rank: 22/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15471 over 17 scenes)
Rank (per category): 19 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 203.78 | 92.27 Rank: 22/87 |
1411.19 Rank: 20/87 |
3.797 Rank: 24/87 |
24.32416 Rank: 18/87 |
0.33961 (±0.00000) Rank: 31/87 |
0.45907 (±0.00000) Rank: 29/87 |
BGK | 2048.0 | 313.67 | 96.93 Rank: 18/87 |
2543.67 Rank: 11/87 |
3.675 Rank: 18/87 |
14.96662 Rank: 45/87 |
0.02401 (±0.00000) Rank: 38/87 |
0.07628 (±0.00000) Rank: 39/87 |
BCN | 2046.3 | 189.24 | 86.00 Rank: 16/87 |
1351.52 Rank: 10/87 |
3.689 Rank: 32/87 |
28.79012 Rank: 39/87 |
0.13401 (±0.00000) Rank: 26/87 |
0.21450 (±0.00000) Rank: 24/87 |
BAR | 2048.0 | 180.42 | 87.17 Rank: 18/87 |
1300.73 Rank: 11/87 |
3.444 Rank: 15/87 |
16.51718 Rank: 32/87 |
0.15184 (±0.00000) Rank: 28/87 |
0.26309 (±0.00000) Rank: 26/87 |
CAM | 2047.6 | 198.38 | 88.18 Rank: 21/87 |
1274.32 Rank: 20/87 |
3.564 Rank: 16/87 |
24.60910 Rank: 19/87 |
0.15339 (±0.00000) Rank: 30/87 |
0.24440 (±0.00000) Rank: 30/87 |
CAN | 2048.0 | 211.94 | 81.60 Rank: 6/87 |
986.43 Rank: 9/87 |
3.592 Rank: 11/87 |
23.02271 Rank: 47/87 |
0.10742 (±0.00000) Rank: 4/87 |
0.17870 (±0.00000) Rank: 3/87 |
CHI | 2048.0 | 236.67 | 88.89 Rank: 24/87 |
676.53 Rank: 10/87 |
4.965 Rank: 11/87 |
47.41655 Rank: 29/87 |
0.15930 (±0.00000) Rank: 12/87 |
0.26117 (±0.00000) Rank: 12/87 |
HEL | 2048.0 | 398.64 | 93.87 Rank: 28/87 |
2370.03 Rank: 14/87 |
4.111 Rank: 5/87 |
15.59884 Rank: 44/87 |
0.34806 (±0.00000) Rank: 18/87 |
0.48204 (±0.00000) Rank: 17/87 |
MAD | 2048.0 | 151.70 | 91.98 Rank: 7/87 |
1513.37 Rank: 9/87 |
3.271 Rank: 30/87 |
7.51320 Rank: 46/87 |
0.09903 (±0.00000) Rank: 18/87 |
0.20316 (±0.00000) Rank: 23/87 |
MTV | 2048.0 | 210.68 | 91.04 Rank: 31/87 |
1538.80 Rank: 10/87 |
3.787 Rank: 36/87 |
16.63876 Rank: 28/87 |
0.26937 (±0.00000) Rank: 28/87 |
0.39653 (±0.00000) Rank: 30/87 |
NOR | 2039.2 | 166.25 | 89.73 Rank: 8/87 |
1405.95 Rank: 1/87 |
3.441 Rank: 13/87 |
13.61702 Rank: 37/87 |
0.28725 (±0.00000) Rank: 13/87 |
0.38091 (±0.00000) Rank: 15/87 |
SF | 2048.0 | 240.48 | 97.33 Rank: 2/87 |
1874.67 Rank: 2/87 |
3.769 Rank: 13/87 |
21.70628 Rank: 47/87 |
0.28947 (±0.00000) Rank: 19/87 |
0.44218 (±0.00000) Rank: 14/87 |
SG | 2048.0 | 182.74 | 80.77 Rank: 8/87 |
1210.36 Rank: 11/87 |
3.487 Rank: 8/87 |
18.33539 Rank: 36/87 |
0.21319 (±0.00000) Rank: 29/87 |
0.27934 (±0.00000) Rank: 30/87 |
SYD | 2048.0 | 210.28 | 91.50 Rank: 7/87 |
1730.09 Rank: 6/87 |
3.608 Rank: 17/87 |
22.97932 Rank: 45/87 |
0.34948 (±0.00000) Rank: 6/87 |
0.45209 (±0.00000) Rank: 5/87 |
TOK | 2048.0 | 251.41 | 92.93 Rank: 22/87 |
2160.61 Rank: 8/87 |
3.693 Rank: 35/87 |
14.34291 Rank: 24/87 |
0.66463 (±0.00000) Rank: 23/87 |
0.74234 (±0.00000) Rank: 21/87 |
TOR | 2048.0 | 160.48 | 88.93 Rank: 16/87 |
1521.06 Rank: 7/87 |
3.207 Rank: 30/87 |
17.68248 Rank: 33/87 |
0.18034 (±0.00000) Rank: 30/87 |
0.31251 (±0.00000) Rank: 28/87 |
ZRH | 2048.0 | 229.05 | 90.93 Rank: 9/87 |
1888.37 Rank: 6/87 |
3.400 Rank: 33/87 |
21.12636 Rank: 38/87 |
0.09815 (±0.00000) Rank: 30/87 |
0.16679 (±0.00000) Rank: 31/87 |
Avg | 2047.4 | 219.75 | 90.00 Rank: 13/87 |
1573.98 Rank: 7/87 |
3.676 Rank: 14/87 |
20.54041 Rank: 41/87 |
0.22756 (±0.00000) Rank: 22/87 |
0.32677 (±0.00000) Rank: 19/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e3ba5f6288961eb8-522json/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
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