Submission ID: fef11b25
HarrisZ improved, AdaLAM
Processed: 21-06-15. Download link: fef11b25c44dae77-harrisz-8k-adalam.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: Fabio Bellavia and Dmytro Mishkin (contact)
- Keypoint: hzbnn22l05m8k2l
- Descriptor: hardnet (128 float32: 512 bytes)
- Number of features: 8000
- Summary: Baseline submission for HarrisZ detector evaluation with AdaLAM matcher (descriptor: AffNet+HardNet8, RANSAC: DEGENSAC)
- Paper: https://digital-library.theiet.org/content/journals/10.1049/iet-cvi.2009.0127
- Website: N/A
- Processing date: 21-06-15
Phototourism dataset / Stereo track
mAA at 10 degrees: 0.54934 (±0.00000 over 1 run(s) / ±0.13630 over 9 scenes)
Rank (per category): 24 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
BM | 5924.1 | — | 544.8 | 0.641 Rank: 20/51 |
0.938 Rank: 18/51 |
0.23991 (±0.00000) Rank: 27/51 |
0.37104 (±0.00000) Rank: 24/51 |
FCS | 7673.2 | — | 820.9 | 0.522 Rank: 14/51 |
0.927 Rank: 7/51 |
0.63894 (±0.00000) Rank: 21/51 |
0.75134 (±0.00000) Rank: 22/51 |
LMS | 5167.7 | — | 531.4 | 0.519 Rank: 20/51 |
0.715 Rank: 11/51 |
0.53456 (±0.00000) Rank: 27/51 |
0.65622 (±0.00000) Rank: 25/51 |
LB | 7137.0 | — | 484.5 | 0.531 Rank: 24/51 |
0.780 Rank: 7/51 |
0.48638 (±0.00000) Rank: 27/51 |
0.57602 (±0.00000) Rank: 24/51 |
MC | 7683.4 | — | 863.8 | 0.627 Rank: 20/51 |
0.945 Rank: 11/51 |
0.42779 (±0.00000) Rank: 27/51 |
0.57670 (±0.00000) Rank: 14/51 |
MR | 7601.6 | — | 789.8 | 0.536 Rank: 25/51 |
0.945 Rank: 21/51 |
0.32615 (±0.00000) Rank: 17/51 |
0.43723 (±0.00000) Rank: 20/51 |
PSM | 7643.2 | — | 481.2 | 0.476 Rank: 20/51 |
0.800 Rank: 3/51 |
0.19007 (±0.00000) Rank: 20/51 |
0.31425 (±0.00000) Rank: 20/51 |
SF | 7832.8 | — | 885.5 | 0.513 Rank: 22/51 |
0.870 Rank: 5/51 |
0.52133 (±0.00000) Rank: 23/51 |
0.64879 (±0.00000) Rank: 25/51 |
SPC | 7118.8 | — | 601.9 | 0.568 Rank: 20/51 |
0.880 Rank: 4/51 |
0.45550 (±0.00000) Rank: 24/51 |
0.61246 (±0.00000) Rank: 26/51 |
Avg | 7086.9 | — | 667.1 | 0.548 Rank: 20/51 |
0.867 Rank: 4/51 |
0.42451 (±0.00000) Rank: 23/51 |
0.54934 (±0.00000) Rank: 24/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/stereo/00009.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/stereo/00009.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/stereo/00009.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/stereo/00009.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/stereo/00009.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/stereo/00009.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/stereo/00009.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/stereo/00009.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/stereo/00009.jpg)
Phototourism dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.09522 over 9 scenes)
Rank (per category): 15 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
BM | 5924.1 | 545.73 | 99.87 Rank: 14/51 |
2525.84 Rank: 37/51 |
5.484 Rank: 14/51 |
0.46370 Rank: 26/51 |
0.49649 (±0.00000) Rank: 23/51 |
0.64380 (±0.00000) Rank: 21/51 |
FCS | 7673.2 | 857.81 | 98.87 Rank: 8/51 |
5499.87 Rank: 26/51 |
4.843 Rank: 20/51 |
0.22791 Rank: 16/51 |
0.76167 (±0.00000) Rank: 16/51 |
0.81828 (±0.00000) Rank: 17/51 |
LMS | 5167.7 | 573.17 | 99.20 Rank: 23/51 |
2597.31 Rank: 37/51 |
5.308 Rank: 11/51 |
0.37462 Rank: 43/51 |
0.80255 (±0.00000) Rank: 26/51 |
0.85909 (±0.00000) Rank: 28/51 |
LB | 7137.0 | 594.55 | 98.09 Rank: 21/51 |
3154.33 Rank: 33/51 |
5.075 Rank: 19/51 |
0.44930 Rank: 1/51 |
0.75276 (±0.00000) Rank: 5/51 |
0.82746 (±0.00000) Rank: 6/51 |
MC | 7683.4 | 846.09 | 99.95 Rank: 19/51 |
4567.98 Rank: 28/51 |
5.329 Rank: 22/51 |
0.32238 Rank: 10/51 |
0.57823 (±0.00000) Rank: 6/51 |
0.71790 (±0.00000) Rank: 6/51 |
MR | 7601.6 | 789.04 | 95.13 Rank: 16/51 |
5084.31 Rank: 28/51 |
4.506 Rank: 26/51 |
0.49139 Rank: 23/51 |
0.48078 (±0.00000) Rank: 9/51 |
0.59666 (±0.00000) Rank: 9/51 |
PSM | 7643.2 | 475.79 | 98.48 Rank: 20/51 |
5350.06 Rank: 22/51 |
3.899 Rank: 20/51 |
0.38176 Rank: 14/51 |
0.56721 (±0.00000) Rank: 15/51 |
0.65057 (±0.00000) Rank: 15/51 |
SF | 7832.8 | 867.02 | 98.77 Rank: 23/51 |
5961.48 Rank: 28/51 |
4.763 Rank: 25/51 |
0.30811 Rank: 25/51 |
0.75068 (±0.00000) Rank: 21/51 |
0.83213 (±0.00000) Rank: 22/51 |
SPC | 7118.8 | 624.71 | 100.00 Rank: 1/51 |
4166.77 Rank: 27/51 |
4.914 Rank: 21/51 |
0.47034 Rank: 22/51 |
0.73463 (±0.00000) Rank: 14/51 |
0.83167 (±0.00000) Rank: 14/51 |
Avg | 7086.9 | 685.99 | 98.71 Rank: 15/51 |
4323.11 Rank: 28/51 |
4.902 Rank: 20/51 |
0.38772 Rank: 18/51 |
0.65833 (±0.00000) Rank: 13/51 |
0.75306 (±0.00000) Rank: 15/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— British Museum —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/british_museum/multiview/bagsize10-bag00-image09.jpg)
— Florence Cathedral Side —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/florence_cathedral_side/multiview/bagsize10-bag00-image09.jpg)
— Lincoln Memorial Statue —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/lincoln_memorial_statue/multiview/bagsize10-bag00-image09.jpg)
— London Bridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/london_bridge/multiview/bagsize10-bag00-image09.jpg)
— Milan Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/milan_cathedral/multiview/bagsize10-bag00-image09.jpg)
— Mount Rushmore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/mount_rushmore/multiview/bagsize10-bag00-image09.jpg)
— Piazza San Marco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/piazza_san_marco/multiview/bagsize10-bag00-image09.jpg)
— Sagrada Familia —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/sagrada_familia/multiview/bagsize10-bag00-image09.jpg)
— Saint Paul's Cathedral —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/phototourism/st_pauls_cathedral/multiview/bagsize10-bag00-image09.jpg)
Prague Parks dataset / Stereo track
mAA at 10 degrees: 0.71471 (±0.00000 over 1 run(s) / ±0.05729 over 3 scenes)
Rank (per category): 16 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
Rep. @ 3 px. | MS @ 3 px. | mAA(5o) | mAA(10o) |
Lizard | 8000.0 | — | 840.4 | 0.084 Rank: 34/51 |
0.010 Rank: 19/51 |
0.54508 (±0.00000) Rank: 13/51 |
0.67018 (±0.00000) Rank: 14/51 |
Pond | 8000.0 | — | 808.9 | 0.108 Rank: 29/51 |
0.052 Rank: 22/51 |
0.54669 (±0.00000) Rank: 18/51 |
0.67836 (±0.00000) Rank: 16/51 |
Tree | 8000.0 | — | 575.6 | 0.084 Rank: 34/51 |
0.022 Rank: 9/51 |
0.69934 (±0.00000) Rank: 16/51 |
0.79558 (±0.00000) Rank: 17/51 |
Avg | 8000.0 | — | 741.6 | 0.092 Rank: 34/51 |
0.028 Rank: 14/51 |
0.59704 (±0.00000) Rank: 15/51 |
0.71471 (±0.00000) Rank: 16/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches, and use the depth estimates to determine whether they are correct. We draw matches above a 5-pixel error threshold in red, and those below are color-coded by their error, from 0 (green) to 5 pixels (yellow). Matches for which we do not have depth estimates are drawn in blue. Please note that the depth maps are estimates and may contain errors.
— Lizard —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/lizard/stereo/00009.jpg)
— Pond —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/pond/stereo/00009.jpg)
— Tree —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/pragueparks/tree_new/stereo/00009.jpg)
Prague Parks dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.14826 over 3 scenes)
Rank (per category): 14 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
Lizard | 8000.0 | 970.56 | 85.30 Rank: 4/51 |
2750.87 Rank: 16/51 |
3.443 Rank: 10/51 |
14.29127 Rank: 35/51 |
0.56778 (±0.00000) Rank: 11/51 |
0.65650 (±0.00000) Rank: 12/51 |
Pond | 8000.0 | 1210.87 | 72.67 Rank: 2/51 |
2934.35 Rank: 14/51 |
3.165 Rank: 5/51 |
0.44808 Rank: 39/51 |
0.26276 (±0.00000) Rank: 24/51 |
0.29342 (±0.00000) Rank: 23/51 |
Tree | 8000.0 | 662.84 | 71.13 Rank: 22/51 |
1390.43 Rank: 17/51 |
3.028 Rank: 14/51 |
6.00034 Rank: 18/51 |
0.44509 (±0.00000) Rank: 20/51 |
0.48209 (±0.00000) Rank: 18/51 |
Avg | 8000.0 | 948.09 | 76.37 Rank: 6/51 |
2358.55 Rank: 16/51 |
3.212 Rank: 8/51 |
6.91323 Rank: 26/51 |
0.42521 (±0.00000) Rank: 15/51 |
0.47734 (±0.00000) Rank: 14/51 |
Google Urban dataset / Stereo track
mAA at 10 degrees: 0.33518 (±0.00000 over 1 run(s) / ±0.12433 over 17 scenes)
Rank (per category): 13 (of 51)
Scene | Features | Matches (raw) |
Matches (final) |
mAA(5o) | mAA(10o) |
Amsterdam (AMS) | 4306.7 | — | 337.5 | 0.24375 (±0.00000) Rank: 12/51 |
0.37679 (±0.00000) Rank: 12/51 |
Bangkok (BGK) | 3087.8 | — | 278.6 | 0.05459 (±0.00000) Rank: 21/51 |
0.13797 (±0.00000) Rank: 23/51 |
Barcelona (BCN) | 4576.9 | — | 274.9 | 0.14945 (±0.00000) Rank: 3/51 |
0.23370 (±0.00000) Rank: 6/51 |
Buenos Aires (BAR) | 3994.0 | — | 273.0 | 0.17991 (±0.00000) Rank: 12/51 |
0.28995 (±0.00000) Rank: 20/51 |
Cambridge (CAM) | 2981.6 | — | 193.3 | 0.26027 (±0.00000) Rank: 12/51 |
0.38322 (±0.00000) Rank: 13/51 |
Cannes (CAN) | 3345.9 | — | 293.5 | 0.40276 (±0.00000) Rank: 14/51 |
0.50046 (±0.00000) Rank: 8/51 |
Chicago (CHI) | 4274.9 | — | 155.3 | 0.19044 (±0.00000) Rank: 10/51 |
0.29426 (±0.00000) Rank: 10/51 |
Helsinki (HEL) | 3348.7 | — | 451.0 | 0.36031 (±0.00000) Rank: 15/51 |
0.55851 (±0.00000) Rank: 16/51 |
Madrid (MAD) | 3668.0 | — | 136.4 | 0.05775 (±0.00000) Rank: 19/51 |
0.12067 (±0.00000) Rank: 23/51 |
Mountain View (MTV) | 3896.6 | — | 151.6 | 0.17930 (±0.00000) Rank: 12/51 |
0.27520 (±0.00000) Rank: 16/51 |
New Orleans (NOR) | 3534.6 | — | 175.6 | 0.22189 (±0.00000) Rank: 16/51 |
0.29763 (±0.00000) Rank: 15/51 |
San Francisco (SF) | 3314.3 | — | 258.4 | 0.17218 (±0.00000) Rank: 13/51 |
0.28740 (±0.00000) Rank: 15/51 |
Singapore (SG) | 2854.6 | — | 219.0 | 0.26139 (±0.00000) Rank: 13/51 |
0.36646 (±0.00000) Rank: 13/51 |
Sydney (SYD) | 3081.6 | — | 199.0 | 0.25328 (±0.00000) Rank: 15/51 |
0.36550 (±0.00000) Rank: 17/51 |
Tokyo (TOK) | 3047.8 | — | 269.7 | 0.46373 (±0.00000) Rank: 15/51 |
0.59877 (±0.00000) Rank: 16/51 |
Toronto (TOR) | 3514.5 | — | 118.5 | 0.16480 (±0.00000) Rank: 13/51 |
0.27240 (±0.00000) Rank: 16/51 |
Zurich (ZRH) | 4168.4 | — | 319.3 | 0.26323 (±0.00000) Rank: 5/51 |
0.33918 (±0.00000) Rank: 5/51 |
Average (Avg) | 3588.0 | — | 241.4 | 0.22818 (±0.00000) Rank: 13/51 |
0.33518 (±0.00000) Rank: 13/51 |
We show the inliers that survive the robust estimation loop (i.e. RANSAC), or those supplied with the submission if using custom matches. As the dataset does not contain depth, we color them based on the symmetric epopilar distance on normalized coordinates: from 0 (green) to 2e-4 (yellow), and in red above it. Note that these occasionally contain false positives.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/stereo/00009.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/stereo/00009.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/stereo/00009.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/stereo/00009.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/stereo/00009.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/stereo/00009.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/stereo/00009.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/stereo/00009.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/stereo/00009.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/stereo/00009.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/stereo/00009.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/stereo/00009.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/stereo/00009.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/stereo/00009.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/stereo/00009.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/stereo/00009.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00000.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00001.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00002.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00003.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00004.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00005.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00006.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00007.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00008.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/stereo/00009.jpg)
Google Urban dataset / Multiview track
mAA at 10 degrees: N/A (±0.00000 over 1 run(s) / ±0.12819 over 17 scenes)
Rank (per category): 15 (of 51)
Scene | Features | Matches (input) |
RegistrationRatio (%) | Number of Landmarks |
Track Length | ATE | mAA(50) | mAA(100) |
AMS | 4306.7 | 197.93 | 82.81 Rank: 17/51 |
1428.02 Rank: 20/51 |
3.587 Rank: 14/51 |
20.30619 Rank: 6/51 |
0.28770 (±0.00000) Rank: 13/51 |
0.37070 (±0.00000) Rank: 15/51 |
BGK | 3087.8 | 178.57 | 92.00 Rank: 19/51 |
1706.49 Rank: 23/51 |
3.629 Rank: 9/51 |
12.15088 Rank: 8/51 |
0.01941 (±0.00000) Rank: 21/51 |
0.06582 (±0.00000) Rank: 22/51 |
BCN | 4576.9 | 149.95 | 81.56 Rank: 12/51 |
1104.14 Rank: 16/51 |
3.561 Rank: 6/51 |
25.77184 Rank: 12/51 |
0.14458 (±0.00000) Rank: 9/51 |
0.22693 (±0.00000) Rank: 10/51 |
BAR | 3994.0 | 143.02 | 68.74 Rank: 18/51 |
750.59 Rank: 22/51 |
3.113 Rank: 12/51 |
12.05809 Rank: 10/51 |
0.04089 (±0.00000) Rank: 22/51 |
0.08168 (±0.00000) Rank: 22/51 |
CAM | 2981.6 | 109.83 | 76.70 Rank: 15/51 |
819.01 Rank: 22/51 |
3.085 Rank: 19/51 |
21.79950 Rank: 14/51 |
0.12436 (±0.00000) Rank: 13/51 |
0.18493 (±0.00000) Rank: 13/51 |
CAN | 3345.9 | 153.18 | 64.89 Rank: 16/51 |
497.18 Rank: 21/51 |
3.377 Rank: 8/51 |
11.73587 Rank: 9/51 |
0.04360 (±0.00000) Rank: 12/51 |
0.07630 (±0.00000) Rank: 12/51 |
CHI | 4274.9 | 135.55 | 77.46 Rank: 19/51 |
326.35 Rank: 22/51 |
4.211 Rank: 17/51 |
43.14213 Rank: 11/51 |
0.06965 (±0.00000) Rank: 17/51 |
0.12487 (±0.00000) Rank: 18/51 |
HEL | 3348.7 | 314.48 | 91.07 Rank: 16/51 |
2106.53 Rank: 21/51 |
3.712 Rank: 6/51 |
12.59002 Rank: 13/51 |
0.29616 (±0.00000) Rank: 9/51 |
0.44087 (±0.00000) Rank: 8/51 |
MAD | 3668.0 | 83.34 | 80.17 Rank: 20/51 |
776.35 Rank: 24/51 |
3.277 Rank: 9/51 |
4.76776 Rank: 13/51 |
0.04827 (±0.00000) Rank: 12/51 |
0.09596 (±0.00000) Rank: 17/51 |
MTV | 3896.6 | 104.78 | 82.16 Rank: 20/51 |
835.96 Rank: 24/51 |
3.428 Rank: 15/51 |
13.98465 Rank: 11/51 |
0.19223 (±0.00000) Rank: 10/51 |
0.29591 (±0.00000) Rank: 11/51 |
NOR | 3534.6 | 108.04 | 67.28 Rank: 15/51 |
556.19 Rank: 20/51 |
3.139 Rank: 10/51 |
9.19596 Rank: 14/51 |
0.11966 (±0.00000) Rank: 13/51 |
0.16622 (±0.00000) Rank: 12/51 |
SF | 3314.3 | 148.88 | 80.80 Rank: 15/51 |
1035.15 Rank: 22/51 |
3.355 Rank: 7/51 |
15.48243 Rank: 15/51 |
0.14572 (±0.00000) Rank: 16/51 |
0.23822 (±0.00000) Rank: 16/51 |
SG | 2854.6 | 130.07 | 63.11 Rank: 19/51 |
681.20 Rank: 23/51 |
3.148 Rank: 9/51 |
14.21448 Rank: 12/51 |
0.08325 (±0.00000) Rank: 17/51 |
0.12711 (±0.00000) Rank: 17/51 |
SYD | 3081.6 | 113.03 | 77.26 Rank: 12/51 |
743.27 Rank: 18/51 |
3.445 Rank: 5/51 |
14.42312 Rank: 19/51 |
0.19986 (±0.00000) Rank: 8/51 |
0.27205 (±0.00000) Rank: 9/51 |
TOK | 3047.8 | 163.78 | 83.51 Rank: 18/51 |
1278.37 Rank: 23/51 |
3.535 Rank: 8/51 |
11.68308 Rank: 11/51 |
0.41959 (±0.00000) Rank: 18/51 |
0.48864 (±0.00000) Rank: 18/51 |
TOR | 3514.5 | 65.02 | 73.36 Rank: 18/51 |
452.18 Rank: 24/51 |
3.370 Rank: 1/51 |
12.32906 Rank: 12/51 |
0.04594 (±0.00000) Rank: 24/51 |
0.08655 (±0.00000) Rank: 24/51 |
ZRH | 4168.4 | 184.70 | 74.34 Rank: 18/51 |
1276.27 Rank: 21/51 |
3.229 Rank: 6/51 |
18.05503 Rank: 18/51 |
0.05162 (±0.00000) Rank: 18/51 |
0.10459 (±0.00000) Rank: 16/51 |
Avg | 3588.0 | 146.13 | 77.48 Rank: 17/51 |
963.13 Rank: 24/51 |
3.424 Rank: 8/51 |
16.09942 Rank: 13/51 |
0.13720 (±0.00000) Rank: 14/51 |
0.20279 (±0.00000) Rank: 15/51 |
In the multi-view track we reconstruct the scene with Structure-from-Motion (Colmap) with small sets of images. We show the results for one bag of 10 images. Keypoints are drawn in blue if they are part of the model, and in red otherwise.
— Amsterdam —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/amsterdam/multiview/bagsize10-bag00-image09.jpg)
— Bangkok —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/bangkok/multiview/bagsize10-bag00-image09.jpg)
— Barcelona —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/barcelona/multiview/bagsize10-bag00-image09.jpg)
— Buenos Aires —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/buenos_aires/multiview/bagsize10-bag00-image09.jpg)
— Cambridge —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cambridge/multiview/bagsize10-bag00-image09.jpg)
— Cannes —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/cannes/multiview/bagsize10-bag00-image09.jpg)
— Chicago —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/chicago/multiview/bagsize10-bag00-image09.jpg)
— Helsinki —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/helsinki/multiview/bagsize10-bag00-image09.jpg)
— Madrid —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/madrid/multiview/bagsize10-bag00-image09.jpg)
— Mountain View —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/mountain_view/multiview/bagsize10-bag00-image09.jpg)
— New Orleans —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/new_orleans/multiview/bagsize10-bag00-image09.jpg)
— San Francisco —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/san_francisco/multiview/bagsize10-bag00-image09.jpg)
— Singapore —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/singapore/multiview/bagsize10-bag00-image09.jpg)
— Sydney —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/sydney/multiview/bagsize10-bag00-image09.jpg)
— Tokyo —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/tokyo/multiview/bagsize10-bag00-image09.jpg)
— Toronto —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/toronto/multiview/bagsize10-bag00-image09.jpg)
— Zurich —
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image00.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image01.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image02.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image03.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image04.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image05.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image06.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image07.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image08.jpg)
![](https://www.cs.ubc.ca/research/image-matching-challenge/2021/viz/fef11b25c44dae77-harrisz-8k-adalam/googleurban/zurich/multiview/bagsize10-bag00-image09.jpg)