Submission ID: fc2873bd
ss-unc-yt
Processed: 21-06-10. Download link: fc2873bdcd7f53a9-ssamix.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: yt (contact)
- Keypoint: spmamix
- Descriptor: hsgmix (128 float32: 512 bytes)
- Number of features: 2048
- Summary:
- Paper: N/A
- Website: N/A
- Processing date: 21-06-10
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.59614 (±0.00000 over 1 run(s) / ±0.13048 over 9 scenes)
Rank (per category): 3 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 2048.0 | — | 422.3 | 0.447 Rank: 64/87 |
0.891 Rank: 50/87 |
0.36540 (±0.00000) Rank: 1/87 |
0.51873 (±0.00000) Rank: 1/87 |
FCS | 2048.0 | — | 542.9 | 0.406 Rank: 44/87 |
0.870 Rank: 33/87 |
0.66015 (±0.00000) Rank: 7/87 |
0.77673 (±0.00000) Rank: 11/87 |
LMS | 2048.0 | — | 522.5 | 0.417 Rank: 43/87 |
0.677 Rank: 50/87 |
0.63102 (±0.00000) Rank: 3/87 |
0.75946 (±0.00000) Rank: 4/87 |
LB | 2048.0 | — | 402.7 | 0.392 Rank: 42/87 |
0.679 Rank: 60/87 |
0.49203 (±0.00000) Rank: 1/87 |
0.60970 (±0.00000) Rank: 20/87 |
MC | 2048.0 | — | 457.4 | 0.413 Rank: 49/87 |
0.852 Rank: 57/87 |
0.35928 (±0.00000) Rank: 1/87 |
0.51222 (±0.00000) Rank: 16/87 |
MR | 2048.0 | — | 421.3 | 0.379 Rank: 66/87 |
0.892 Rank: 45/87 |
0.28111 (±0.00000) Rank: 22/87 |
0.39752 (±0.00000) Rank: 18/87 |
PSM | 2048.0 | — | 411.4 | 0.329 Rank: 52/87 |
0.623 Rank: 16/87 |
0.26598 (±0.00000) Rank: 4/87 |
0.43161 (±0.00000) Rank: 4/87 |
SF | 2048.0 | — | 490.2 | 0.351 Rank: 57/87 |
0.781 Rank: 46/87 |
0.52212 (±0.00000) Rank: 3/87 |
0.66833 (±0.00000) Rank: 2/87 |
SPC | 2048.0 | — | 437.5 | 0.375 Rank: 58/87 |
0.795 Rank: 43/87 |
0.52564 (±0.00000) Rank: 12/87 |
0.69100 (±0.00000) Rank: 6/87 |
Avg | 2048.0 | — | 456.5 | 0.390 Rank: 60/87 |
0.785 Rank: 44/87 |
0.45586 (±0.00000) Rank: 3/87 |
0.59614 (±0.00000) Rank: 3/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09267 over 9 scenes)
Rank (per category): 1 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 2048.0 | 422.69 | 100.00 Rank: 1/87 |
2324.21 Rank: 16/87 |
4.930 Rank: 37/87 |
0.34354 Rank: 17/87 |
0.60230 (±0.00000) Rank: 1/87 |
0.73820 (±0.00000) Rank: 2/87 |
FCS | 2048.0 | 550.60 | 97.93 Rank: 34/87 |
2809.53 Rank: 11/87 |
5.085 Rank: 31/87 |
0.22744 Rank: 11/87 |
0.76025 (±0.00000) Rank: 10/87 |
0.81601 (±0.00000) Rank: 11/87 |
LMS | 2048.0 | 546.34 | 99.09 Rank: 50/87 |
2213.62 Rank: 15/87 |
5.440 Rank: 46/87 |
0.30469 Rank: 50/87 |
0.84711 (±0.00000) Rank: 27/87 |
0.89651 (±0.00000) Rank: 31/87 |
LB | 2048.0 | 473.97 | 98.36 Rank: 1/87 |
2293.76 Rank: 8/87 |
5.199 Rank: 40/87 |
0.47015 Rank: 12/87 |
0.73240 (±0.00000) Rank: 4/87 |
0.82093 (±0.00000) Rank: 5/87 |
MC | 2048.0 | 449.54 | 100.00 Rank: 1/87 |
2429.55 Rank: 22/87 |
5.124 Rank: 34/87 |
0.31672 Rank: 4/87 |
0.57989 (±0.00000) Rank: 2/87 |
0.72311 (±0.00000) Rank: 2/87 |
MR | 2048.0 | 413.00 | 94.80 Rank: 29/87 |
2496.27 Rank: 15/87 |
4.715 Rank: 42/87 |
0.48726 Rank: 10/87 |
0.45210 (±0.00000) Rank: 3/87 |
0.57487 (±0.00000) Rank: 6/87 |
PSM | 2048.0 | 408.41 | 99.68 Rank: 8/87 |
2712.69 Rank: 10/87 |
4.586 Rank: 20/87 |
0.31057 Rank: 7/87 |
0.65868 (±0.00000) Rank: 8/87 |
0.75068 (±0.00000) Rank: 6/87 |
SF | 2048.0 | 482.76 | 100.00 Rank: 1/87 |
2919.97 Rank: 15/87 |
4.928 Rank: 34/87 |
0.27938 Rank: 21/87 |
0.78178 (±0.00000) Rank: 19/87 |
0.86677 (±0.00000) Rank: 8/87 |
SPC | 2048.0 | 447.86 | 100.00 Rank: 1/87 |
2499.02 Rank: 19/87 |
5.128 Rank: 40/87 |
0.43011 Rank: 24/87 |
0.76378 (±0.00000) Rank: 10/87 |
0.85308 (±0.00000) Rank: 11/87 |
Avg | 2048.0 | 466.13 | 98.87 Rank: 18/87 |
2522.07 Rank: 10/87 |
5.015 Rank: 38/87 |
0.35221 Rank: 3/87 |
0.68648 (±0.00000) Rank: 3/87 |
0.78224 (±0.00000) Rank: 1/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.72704 (±0.00000 over 1 run(s) / ±0.04427 over 3 scenes)
Rank (per category): 34 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 2048.0 | — | 311.4 | 0.036 Rank: 27/87 |
0.010 Rank: 38/87 |
0.54646 (±0.00000) Rank: 38/87 |
0.69112 (±0.00000) Rank: 37/87 |
Pond | 2048.0 | — | 319.1 | 0.051 Rank: 34/87 |
0.048 Rank: 37/87 |
0.56072 (±0.00000) Rank: 28/87 |
0.70060 (±0.00000) Rank: 30/87 |
Tree | 2048.0 | — | 210.7 | 0.031 Rank: 33/87 |
0.023 Rank: 38/87 |
0.67196 (±0.00000) Rank: 33/87 |
0.78940 (±0.00000) Rank: 33/87 |
Avg | 2048.0 | — | 280.4 | 0.039 Rank: 30/87 |
0.027 Rank: 46/87 |
0.59305 (±0.00000) Rank: 32/87 |
0.72704 (±0.00000) Rank: 34/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14265 over 3 scenes)
Rank (per category): 2 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 2048.0 | 334.67 | 85.70 Rank: 2/87 |
1082.84 Rank: 24/87 |
3.459 Rank: 10/87 |
14.57073 Rank: 66/87 |
0.57962 (±0.00000) Rank: 37/87 |
0.66913 (±0.00000) Rank: 31/87 |
Pond | 2048.0 | 356.92 | 70.20 Rank: 13/87 |
855.11 Rank: 42/87 |
2.968 Rank: 26/87 |
0.43910 Rank: 55/87 |
0.28556 (±0.00000) Rank: 32/87 |
0.32044 (±0.00000) Rank: 22/87 |
Tree | 2048.0 | 200.65 | 72.69 Rank: 6/87 |
527.41 Rank: 31/87 |
3.090 Rank: 8/87 |
6.10998 Rank: 50/87 |
0.47227 (±0.00000) Rank: 5/87 |
0.51431 (±0.00000) Rank: 4/87 |
Avg | 2048.0 | 297.41 | 76.20 Rank: 1/87 |
821.79 Rank: 28/87 |
3.172 Rank: 10/87 |
7.03994 Rank: 67/87 |
0.44581 (±0.00000) Rank: 9/87 |
0.50130 (±0.00000) Rank: 2/87 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.40856 (±0.00000 over 1 run(s) / ±0.13356 over 17 scenes)
Rank (per category): 4 (of 87)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 2048.0 | — | 288.8 | 0.25000 (±0.00000) Rank: 19/87 |
0.38437 (±0.00000) Rank: 26/87 |
Bangkok (BGK) | 2046.2 | — | 425.1 | 0.07395 (±0.00000) Rank: 5/87 |
0.18462 (±0.00000) Rank: 8/87 |
Barcelona (BCN) | 2048.0 | — | 308.1 | 0.13407 (±0.00000) Rank: 8/87 |
0.22015 (±0.00000) Rank: 8/87 |
Buenos Aires (BAR) | 2048.0 | — | 292.1 | 0.22192 (±0.00000) Rank: 19/87 |
0.37397 (±0.00000) Rank: 20/87 |
Cambridge (CAM) | 2048.0 | — | 296.1 | 0.31849 (±0.00000) Rank: 19/87 |
0.47603 (±0.00000) Rank: 9/87 |
Cannes (CAN) | 2048.0 | — | 356.8 | 0.42488 (±0.00000) Rank: 1/87 |
0.54424 (±0.00000) Rank: 1/87 |
Chicago (CHI) | 2048.0 | — | 240.2 | 0.19891 (±0.00000) Rank: 24/87 |
0.33183 (±0.00000) Rank: 20/87 |
Helsinki (HEL) | 2048.0 | — | 551.3 | 0.37784 (±0.00000) Rank: 21/87 |
0.57268 (±0.00000) Rank: 24/87 |
Madrid (MAD) | 2048.0 | — | 212.0 | 0.10274 (±0.00000) Rank: 1/87 |
0.22705 (±0.00000) Rank: 2/87 |
Mountain View (MTV) | 2048.0 | — | 267.9 | 0.25508 (±0.00000) Rank: 8/87 |
0.39746 (±0.00000) Rank: 10/87 |
New Orleans (NOR) | 2048.0 | — | 226.9 | 0.28817 (±0.00000) Rank: 9/87 |
0.39852 (±0.00000) Rank: 9/87 |
San Francisco (SF) | 2048.0 | — | 341.2 | 0.21470 (±0.00000) Rank: 7/87 |
0.37008 (±0.00000) Rank: 6/87 |
Singapore (SG) | 2048.0 | — | 274.2 | 0.34747 (±0.00000) Rank: 9/87 |
0.46835 (±0.00000) Rank: 14/87 |
Sydney (SYD) | 2048.0 | — | 325.0 | 0.32664 (±0.00000) Rank: 25/87 |
0.49039 (±0.00000) Rank: 22/87 |
Tokyo (TOK) | 2048.0 | — | 378.3 | 0.61127 (±0.00000) Rank: 9/87 |
0.74534 (±0.00000) Rank: 10/87 |
Toronto (TOR) | 2048.0 | — | 232.3 | 0.20880 (±0.00000) Rank: 26/87 |
0.37480 (±0.00000) Rank: 24/87 |
Zurich (ZRH) | 2048.0 | — | 348.2 | 0.29553 (±0.00000) Rank: 1/87 |
0.38557 (±0.00000) Rank: 1/87 |
Average (Avg) | 2047.9 | — | 315.6 | 0.27356 (±0.00000) Rank: 4/87 |
0.40856 (±0.00000) Rank: 4/87 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.15392 over 17 scenes)
Rank (per category): 10 (of 87)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 2048.0 | 191.81 | 94.40 Rank: 1/87 |
1481.25 Rank: 12/87 |
3.817 Rank: 19/87 |
25.08985 Rank: 28/87 |
0.38499 (±0.00000) Rank: 6/87 |
0.51130 (±0.00000) Rank: 5/87 |
BGK | 2046.2 | 296.46 | 97.33 Rank: 9/87 |
2750.39 Rank: 4/87 |
3.607 Rank: 40/87 |
15.19253 Rank: 47/87 |
0.03339 (±0.00000) Rank: 5/87 |
0.09985 (±0.00000) Rank: 5/87 |
BCN | 2048.0 | 184.63 | 86.76 Rank: 8/87 |
1336.95 Rank: 12/87 |
3.838 Rank: 9/87 |
29.20042 Rank: 43/87 |
0.13615 (±0.00000) Rank: 23/87 |
0.21509 (±0.00000) Rank: 23/87 |
BAR | 2048.0 | 172.01 | 88.17 Rank: 12/87 |
1285.00 Rank: 13/87 |
3.512 Rank: 2/87 |
16.74549 Rank: 39/87 |
0.16045 (±0.00000) Rank: 22/87 |
0.26203 (±0.00000) Rank: 27/87 |
CAM | 2048.0 | 187.68 | 86.20 Rank: 29/87 |
1362.65 Rank: 11/87 |
3.475 Rank: 31/87 |
24.99201 Rank: 22/87 |
0.19424 (±0.00000) Rank: 13/87 |
0.29013 (±0.00000) Rank: 13/87 |
CAN | 2048.0 | 198.57 | 77.10 Rank: 28/87 |
831.53 Rank: 27/87 |
3.525 Rank: 22/87 |
16.30082 Rank: 16/87 |
0.07381 (±0.00000) Rank: 21/87 |
0.12971 (±0.00000) Rank: 22/87 |
CHI | 2048.0 | 213.10 | 90.85 Rank: 7/87 |
776.48 Rank: 2/87 |
4.966 Rank: 10/87 |
49.48917 Rank: 51/87 |
0.15696 (±0.00000) Rank: 14/87 |
0.24771 (±0.00000) Rank: 16/87 |
HEL | 2048.0 | 394.40 | 93.60 Rank: 34/87 |
2438.79 Rank: 10/87 |
4.050 Rank: 17/87 |
14.24148 Rank: 25/87 |
0.34371 (±0.00000) Rank: 21/87 |
0.47723 (±0.00000) Rank: 21/87 |
MAD | 2048.0 | 136.69 | 91.66 Rank: 10/87 |
1515.98 Rank: 8/87 |
3.286 Rank: 23/87 |
5.80455 Rank: 25/87 |
0.10787 (±0.00000) Rank: 10/87 |
0.22223 (±0.00000) Rank: 7/87 |
MTV | 2048.0 | 194.91 | 91.04 Rank: 32/87 |
1517.61 Rank: 17/87 |
3.816 Rank: 24/87 |
16.25812 Rank: 24/87 |
0.25690 (±0.00000) Rank: 32/87 |
0.38109 (±0.00000) Rank: 33/87 |
NOR | 2048.0 | 147.55 | 86.83 Rank: 26/87 |
1294.72 Rank: 13/87 |
3.315 Rank: 30/87 |
13.46466 Rank: 33/87 |
0.28649 (±0.00000) Rank: 15/87 |
0.37672 (±0.00000) Rank: 17/87 |
SF | 2048.0 | 225.08 | 97.60 Rank: 1/87 |
1811.70 Rank: 7/87 |
3.817 Rank: 5/87 |
21.42558 Rank: 43/87 |
0.30638 (±0.00000) Rank: 9/87 |
0.45214 (±0.00000) Rank: 9/87 |
SG | 2048.0 | 170.92 | 77.08 Rank: 24/87 |
1065.01 Rank: 27/87 |
3.287 Rank: 29/87 |
17.32926 Rank: 30/87 |
0.20556 (±0.00000) Rank: 33/87 |
0.27129 (±0.00000) Rank: 33/87 |
SYD | 2048.0 | 202.40 | 90.46 Rank: 14/87 |
1743.54 Rank: 5/87 |
3.411 Rank: 36/87 |
24.59411 Rank: 49/87 |
0.36387 (±0.00000) Rank: 3/87 |
0.45495 (±0.00000) Rank: 3/87 |
TOK | 2048.0 | 238.60 | 93.73 Rank: 6/87 |
2177.19 Rank: 7/87 |
3.770 Rank: 15/87 |
14.79403 Rank: 45/87 |
0.66768 (±0.00000) Rank: 19/87 |
0.73921 (±0.00000) Rank: 23/87 |
TOR | 2048.0 | 145.66 | 88.27 Rank: 26/87 |
1443.75 Rank: 21/87 |
3.239 Rank: 20/87 |
17.79982 Rank: 35/87 |
0.21346 (±0.00000) Rank: 6/87 |
0.34624 (±0.00000) Rank: 9/87 |
ZRH | 2048.0 | 217.44 | 90.20 Rank: 19/87 |
1867.73 Rank: 9/87 |
3.520 Rank: 8/87 |
20.39685 Rank: 35/87 |
0.14026 (±0.00000) Rank: 7/87 |
0.22358 (±0.00000) Rank: 4/87 |
Avg | 2047.9 | 206.93 | 89.49 Rank: 20/87 |
1570.60 Rank: 10/87 |
3.662 Rank: 18/87 |
20.18346 Rank: 31/87 |
0.23719 (±0.00000) Rank: 8/87 |
0.33532 (±0.00000) Rank: 10/87 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fc2873bdcd7f53a9-ssamix/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)