Submission ID: e75d9e27
LoFTR
Processed: 21-06-12. Download link: e75d9e2710d09fd6-loftr_v2.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: Jiaming Sun, Xingyi He, Zehong Shen, Yuang Wang (contact)
- Keypoint: free
- Descriptor: free (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Detector-Free Local Feature Matching with Transformers
- Paper: N/A
- Website: N/A
- Processing date: 21-06-12
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.61249 (±0.00000 over 1 run(s) / ±0.13955 over 9 scenes)
Rank (per category): 8 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 7339.0 | — | 196.7 | 0.532 Rank: 31/51 |
0.946 Rank: 10/51 |
0.49085 (±0.00000) Rank: 1/51 |
0.63850 (±0.00000) Rank: 3/51 |
FCS | 7544.5 | — | 194.2 | 0.427 Rank: 43/51 |
0.925 Rank: 8/51 |
0.66157 (±0.00000) Rank: 10/51 |
0.77848 (±0.00000) Rank: 10/51 |
LMS | 6690.9 | — | 132.4 | 0.348 Rank: 47/51 |
0.718 Rank: 5/51 |
0.58680 (±0.00000) Rank: 12/51 |
0.70170 (±0.00000) Rank: 16/51 |
LB | 7210.4 | — | 226.1 | 0.672 Rank: 5/51 |
0.719 Rank: 28/51 |
0.53363 (±0.00000) Rank: 1/51 |
0.62699 (±0.00000) Rank: 11/51 |
MC | 7435.4 | — | 238.8 | 0.616 Rank: 26/51 |
0.921 Rank: 21/51 |
0.43438 (±0.00000) Rank: 1/51 |
0.58606 (±0.00000) Rank: 7/51 |
MR | 7202.1 | — | 190.5 | 0.486 Rank: 31/51 |
0.952 Rank: 15/51 |
0.32424 (±0.00000) Rank: 19/51 |
0.43871 (±0.00000) Rank: 18/51 |
PSM | 7401.1 | — | 133.7 | 0.417 Rank: 30/51 |
0.634 Rank: 33/51 |
0.20135 (±0.00000) Rank: 14/51 |
0.32020 (±0.00000) Rank: 16/51 |
SF | 6892.1 | — | 144.3 | 0.385 Rank: 44/51 |
0.859 Rank: 11/51 |
0.54363 (±0.00000) Rank: 16/51 |
0.67107 (±0.00000) Rank: 16/51 |
SPC | 7444.9 | — | 208.3 | 0.529 Rank: 26/51 |
0.861 Rank: 13/51 |
0.61066 (±0.00000) Rank: 5/51 |
0.75075 (±0.00000) Rank: 5/51 |
Avg | 7240.0 | — | 185.0 | 0.490 Rank: 30/51 |
0.837 Rank: 18/51 |
0.48746 (±0.00000) Rank: 6/51 |
0.61249 (±0.00000) Rank: 8/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.16525 over 9 scenes)
Rank (per category): 41 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 7339.0 | 195.39 | 99.82 Rank: 21/51 |
3695.67 Rank: 23/51 |
3.423 Rank: 41/51 |
0.38333 Rank: 13/51 |
0.53437 (±0.00000) Rank: 15/51 |
0.65916 (±0.00000) Rank: 19/51 |
FCS | 7544.5 | 192.43 | 94.93 Rank: 44/51 |
3461.10 Rank: 38/51 |
3.367 Rank: 48/51 |
0.33581 Rank: 45/51 |
0.59752 (±0.00000) Rank: 45/51 |
0.64510 (±0.00000) Rank: 44/51 |
LMS | 6690.9 | 136.88 | 97.22 Rank: 39/51 |
1383.17 Rank: 38/51 |
4.264 Rank: 37/51 |
0.41270 Rank: 45/51 |
0.73262 (±0.00000) Rank: 39/51 |
0.79356 (±0.00000) Rank: 41/51 |
LB | 7210.4 | 252.46 | 97.20 Rank: 36/51 |
4188.27 Rank: 19/51 |
3.738 Rank: 42/51 |
0.50834 Rank: 37/51 |
0.68693 (±0.00000) Rank: 30/51 |
0.77855 (±0.00000) Rank: 31/51 |
MC | 7435.4 | 233.71 | 99.26 Rank: 39/51 |
4623.90 Rank: 26/51 |
3.524 Rank: 42/51 |
0.33745 Rank: 15/51 |
0.55173 (±0.00000) Rank: 20/51 |
0.68711 (±0.00000) Rank: 24/51 |
MR | 7202.1 | 182.19 | 86.99 Rank: 41/51 |
3195.08 Rank: 42/51 |
3.053 Rank: 48/51 |
0.52950 Rank: 35/51 |
0.34102 (±0.00000) Rank: 41/51 |
0.42698 (±0.00000) Rank: 41/51 |
PSM | 7401.1 | 128.45 | 79.39 Rank: 43/51 |
2324.57 Rank: 42/51 |
2.619 Rank: 48/51 |
0.79917 Rank: 47/51 |
0.22604 (±0.00000) Rank: 42/51 |
0.25660 (±0.00000) Rank: 41/51 |
SF | 6892.1 | 142.49 | 96.53 Rank: 32/51 |
2561.30 Rank: 44/51 |
3.420 Rank: 46/51 |
0.33096 Rank: 35/51 |
0.62058 (±0.00000) Rank: 38/51 |
0.68839 (±0.00000) Rank: 39/51 |
SPC | 7444.9 | 208.52 | 98.75 Rank: 32/51 |
4162.40 Rank: 29/51 |
3.373 Rank: 42/51 |
0.48215 Rank: 23/51 |
0.64895 (±0.00000) Rank: 33/51 |
0.72265 (±0.00000) Rank: 37/51 |
Avg | 7240.0 | 185.83 | 94.45 Rank: 41/51 |
3288.39 Rank: 34/51 |
3.420 Rank: 41/51 |
0.45771 Rank: 37/51 |
0.54886 (±0.00000) Rank: 37/51 |
0.62868 (±0.00000) Rank: 41/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.75422 (±0.00000 over 1 run(s) / ±0.07610 over 3 scenes)
Rank (per category): 8 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 7499.2 | — | 235.7 | 0.085 Rank: 32/51 |
0.008 Rank: 33/51 |
0.58530 (±0.00000) Rank: 8/51 |
0.70929 (±0.00000) Rank: 8/51 |
Pond | 7863.3 | — | 310.6 | 0.103 Rank: 36/51 |
0.044 Rank: 36/51 |
0.56874 (±0.00000) Rank: 11/51 |
0.69198 (±0.00000) Rank: 11/51 |
Tree | 7852.3 | — | 418.6 | 0.123 Rank: 20/51 |
0.020 Rank: 21/51 |
0.79470 (±0.00000) Rank: 3/51 |
0.86137 (±0.00000) Rank: 8/51 |
Avg | 7738.3 | — | 321.6 | 0.104 Rank: 29/51 |
0.024 Rank: 38/51 |
0.64958 (±0.00000) Rank: 8/51 |
0.75422 (±0.00000) Rank: 8/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.08806 over 3 scenes)
Rank (per category): 26 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 7499.2 | 220.61 | 81.53 Rank: 34/51 |
692.10 Rank: 35/51 |
2.743 Rank: 37/51 |
13.78689 Rank: 10/51 |
0.47333 (±0.00000) Rank: 29/51 |
0.56041 (±0.00000) Rank: 30/51 |
Pond | 7863.3 | 299.59 | 70.40 Rank: 15/51 |
635.55 Rank: 37/51 |
2.367 Rank: 38/51 |
0.43591 Rank: 29/51 |
0.31340 (±0.00000) Rank: 2/51 |
0.34517 (±0.00000) Rank: 1/51 |
Tree | 7852.3 | 289.08 | 71.00 Rank: 24/51 |
730.95 Rank: 35/51 |
2.509 Rank: 38/51 |
6.36287 Rank: 36/51 |
0.44331 (±0.00000) Rank: 21/51 |
0.46508 (±0.00000) Rank: 25/51 |
Avg | 7738.3 | 269.76 | 74.31 Rank: 29/51 |
686.20 Rank: 37/51 |
2.540 Rank: 38/51 |
6.86189 Rank: 21/51 |
0.41001 (±0.00000) Rank: 25/51 |
0.45689 (±0.00000) Rank: 26/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40485 (±0.00000 over 1 run(s) / ±0.11019 over 17 scenes)
Rank (per category): 9 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 7126.5 | — | 1057.0 | 0.27411 (±0.00000) Rank: 8/51 |
0.42143 (±0.00000) Rank: 8/51 |
Bangkok (BGK) | 7136.9 | — | 870.4 | 0.08437 (±0.00000) Rank: 5/51 |
0.23201 (±0.00000) Rank: 5/51 |
Barcelona (BCN) | 7012.3 | — | 684.6 | 0.13846 (±0.00000) Rank: 7/51 |
0.22564 (±0.00000) Rank: 9/51 |
Buenos Aires (BAR) | 6880.5 | — | 676.3 | 0.26941 (±0.00000) Rank: 8/51 |
0.42283 (±0.00000) Rank: 8/51 |
Cambridge (CAM) | 6947.3 | — | 779.1 | 0.29384 (±0.00000) Rank: 8/51 |
0.42637 (±0.00000) Rank: 7/51 |
Cannes (CAN) | 7173.0 | — | 1048.3 | 0.41014 (±0.00000) Rank: 9/51 |
0.49631 (±0.00000) Rank: 13/51 |
Chicago (CHI) | 6903.2 | — | 699.1 | 0.25396 (±0.00000) Rank: 6/51 |
0.38292 (±0.00000) Rank: 6/51 |
Helsinki (HEL) | 5940.1 | — | 615.4 | 0.38299 (±0.00000) Rank: 5/51 |
0.58686 (±0.00000) Rank: 3/51 |
Madrid (MAD) | 7142.7 | — | 690.3 | 0.12280 (±0.00000) Rank: 1/51 |
0.25653 (±0.00000) Rank: 1/51 |
Mountain View (MTV) | 6953.6 | — | 640.9 | 0.26992 (±0.00000) Rank: 1/51 |
0.41152 (±0.00000) Rank: 2/51 |
New Orleans (NOR) | 7384.4 | — | 587.9 | 0.30118 (±0.00000) Rank: 9/51 |
0.40237 (±0.00000) Rank: 5/51 |
San Francisco (SF) | 7060.6 | — | 665.6 | 0.21050 (±0.00000) Rank: 6/51 |
0.34908 (±0.00000) Rank: 8/51 |
Singapore (SG) | 7061.7 | — | 750.2 | 0.30443 (±0.00000) Rank: 12/51 |
0.41108 (±0.00000) Rank: 11/51 |
Sydney (SYD) | 7007.3 | — | 564.0 | 0.33537 (±0.00000) Rank: 4/51 |
0.48952 (±0.00000) Rank: 9/51 |
Tokyo (TOK) | 6689.2 | — | 538.2 | 0.51127 (±0.00000) Rank: 5/51 |
0.65539 (±0.00000) Rank: 5/51 |
Toronto (TOR) | 7471.4 | — | 799.7 | 0.20800 (±0.00000) Rank: 10/51 |
0.38400 (±0.00000) Rank: 9/51 |
Zurich (ZRH) | 6485.4 | — | 611.6 | 0.25086 (±0.00000) Rank: 13/51 |
0.32852 (±0.00000) Rank: 11/51 |
Average (Avg) | 6963.3 | — | 722.3 | 0.27186 (±0.00000) Rank: 9/51 |
0.40485 (±0.00000) Rank: 9/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12765 over 17 scenes)
Rank (per category): 9 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 7126.5 | 653.04 | 92.00 Rank: 9/51 |
5797.51 Rank: 6/51 |
3.646 Rank: 10/51 |
27.67071 Rank: 26/51 |
0.37571 (±0.00000) Rank: 4/51 |
0.50496 (±0.00000) Rank: 3/51 |
BGK | 7136.9 | 625.69 | 97.47 Rank: 3/51 |
7071.83 Rank: 7/51 |
3.502 Rank: 17/51 |
14.39290 Rank: 21/51 |
0.03836 (±0.00000) Rank: 1/51 |
0.11021 (±0.00000) Rank: 1/51 |
BCN | 7012.3 | 414.13 | 86.80 Rank: 6/51 |
2891.67 Rank: 6/51 |
3.321 Rank: 18/51 |
27.93771 Rank: 23/51 |
0.13668 (±0.00000) Rank: 11/51 |
0.21469 (±0.00000) Rank: 11/51 |
BAR | 6880.5 | 390.15 | 87.08 Rank: 8/51 |
3442.23 Rank: 6/51 |
3.213 Rank: 11/51 |
15.83034 Rank: 19/51 |
0.17659 (±0.00000) Rank: 6/51 |
0.27759 (±0.00000) Rank: 5/51 |
CAM | 6947.3 | 462.72 | 87.95 Rank: 8/51 |
4005.43 Rank: 6/51 |
3.230 Rank: 10/51 |
25.98011 Rank: 22/51 |
0.19652 (±0.00000) Rank: 4/51 |
0.29196 (±0.00000) Rank: 3/51 |
CAN | 7173.0 | 529.94 | 80.78 Rank: 9/51 |
2208.75 Rank: 7/51 |
3.319 Rank: 10/51 |
20.95021 Rank: 21/51 |
0.07197 (±0.00000) Rank: 9/51 |
0.10907 (±0.00000) Rank: 11/51 |
CHI | 6903.2 | 621.93 | 92.75 Rank: 4/51 |
1912.63 Rank: 5/51 |
4.848 Rank: 11/51 |
49.67169 Rank: 28/51 |
0.16462 (±0.00000) Rank: 4/51 |
0.25172 (±0.00000) Rank: 7/51 |
HEL | 5940.1 | 424.55 | 95.60 Rank: 4/51 |
4920.57 Rank: 9/51 |
3.265 Rank: 18/51 |
12.05681 Rank: 8/51 |
0.29873 (±0.00000) Rank: 7/51 |
0.43605 (±0.00000) Rank: 10/51 |
MAD | 7142.7 | 420.97 | 90.61 Rank: 9/51 |
4710.79 Rank: 6/51 |
3.130 Rank: 19/51 |
6.95757 Rank: 27/51 |
0.06647 (±0.00000) Rank: 11/51 |
0.15636 (±0.00000) Rank: 9/51 |
MTV | 6953.6 | 454.97 | 93.21 Rank: 2/51 |
4192.39 Rank: 6/51 |
3.675 Rank: 13/51 |
16.70445 Rank: 26/51 |
0.25193 (±0.00000) Rank: 6/51 |
0.37864 (±0.00000) Rank: 6/51 |
NOR | 7384.4 | 362.83 | 87.18 Rank: 3/51 |
2898.53 Rank: 7/51 |
3.235 Rank: 4/51 |
13.77015 Rank: 27/51 |
0.23417 (±0.00000) Rank: 8/51 |
0.31688 (±0.00000) Rank: 8/51 |
SF | 7060.6 | 396.17 | 95.27 Rank: 6/51 |
3569.94 Rank: 7/51 |
3.281 Rank: 14/51 |
17.92172 Rank: 21/51 |
0.20219 (±0.00000) Rank: 9/51 |
0.32009 (±0.00000) Rank: 9/51 |
SG | 7061.7 | 443.87 | 71.49 Rank: 12/51 |
2654.15 Rank: 7/51 |
3.123 Rank: 14/51 |
17.03059 Rank: 20/51 |
0.12627 (±0.00000) Rank: 12/51 |
0.17723 (±0.00000) Rank: 13/51 |
SYD | 7007.3 | 346.70 | 81.66 Rank: 9/51 |
2682.08 Rank: 7/51 |
2.906 Rank: 23/51 |
13.27924 Rank: 15/51 |
0.16276 (±0.00000) Rank: 14/51 |
0.24401 (±0.00000) Rank: 14/51 |
TOK | 6689.2 | 346.85 | 86.79 Rank: 12/51 |
3959.15 Rank: 8/51 |
3.281 Rank: 19/51 |
15.59542 Rank: 24/51 |
0.51983 (±0.00000) Rank: 10/51 |
0.59206 (±0.00000) Rank: 10/51 |
TOR | 7471.4 | 490.20 | 91.87 Rank: 6/51 |
5268.53 Rank: 6/51 |
3.131 Rank: 13/51 |
18.32831 Rank: 25/51 |
0.18313 (±0.00000) Rank: 4/51 |
0.30183 (±0.00000) Rank: 5/51 |
ZRH | 6485.4 | 372.09 | 85.74 Rank: 6/51 |
3106.26 Rank: 8/51 |
2.968 Rank: 19/51 |
18.31602 Rank: 20/51 |
0.13898 (±0.00000) Rank: 5/51 |
0.23015 (±0.00000) Rank: 4/51 |
Avg | 6963.3 | 456.28 | 88.48 Rank: 9/51 |
3840.73 Rank: 7/51 |
3.357 Rank: 15/51 |
19.55259 Rank: 21/51 |
0.19676 (±0.00000) Rank: 9/51 |
0.28903 (±0.00000) Rank: 9/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/e75d9e2710d09fd6-loftr_v2/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)